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grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 245, "end_step": 601, "id": "331f5c91-b623-44d0-9b41-cbdf0955aaa4"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and lowers it onto the peg to complete initial fitting."}, {"label": "subtasks", "start_step": 338, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats upward and away from the leftmost peg while remaining empty."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple peg on the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 724, "id": "b455cd65-f47a-48df-bdba-9c1af2df60be"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 725, "end_step": 986, "id": "fef16ce4-0dca-458f-a140-fc4c44dfb36a"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the front-left purple peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base, with fingers opening from a closed grasping position."}, {"label": "goal", "start_step": 987, "end_step": 1114, "id": "45833f5c-9e72-4211-8cc8-777da6c0885f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1115, "end_step": 1282, "id": "97251b56-af22-4e8c-8f33-007e49b50c80"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the black table and moves it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod on the wooden rack and slides it down the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the leftmost purple rod without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand adjusts the white block to fit it onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 1283, "end_step": 1418, "id": "66527a7b-5cbc-4abb-a30f-01bf7ba743af"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the rightmost peg, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table near the wooden rack, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1419, "end_step": 1628, "id": "1958be24-05cd-424f-be45-258bb8ab61c2"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and moves it downward to fit the piece onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1629, "end_step": 1756, "id": "e3735b9b-ca75-4072-a24e-644a6c673352"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1757, "end_step": 2348, "id": "d6901964-0e7c-4c8f-ae32-107c1af92f48"}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical peg on the wooden rack and moves it downward along the peg to complete the insertion assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_upward_along_peg: Right hand holds the green hexagonal block and slides it slightly upward along the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_downward_along_peg: Right hand holds the green hexagonal block and slides it downward along the vertical peg on the wooden rack to the final assembly position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 2349, "end_step": 2466, "id": "ea5f84a7-2fd9-48e0-9ba3-bf7ecd68db2a"}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "goal", "start_step": 2467, "end_step": 2664, "id": "38b274ef-3228-4201-87d9-763dd033008c"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table surface and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 2542, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple peg of the wooden board, aligning the inner hole with the peg and pressing it down."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white ring onto the green post on the wooden base."}, {"label": "goal", "start_step": 2665, "end_step": 2788, "id": "d6280c82-1826-4393-8a29-60aceb3e7c4e"}, {"label": "subtasks", "start_step": 2678, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring on the green post, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2692, "end_step": 2737, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the right side of the table without moving."}, {"label": "goal", "start_step": 2789, "end_step": 2980, "id": "67b12c5d-ded9-4927-90e2-73912cb7ff3d"}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white annular block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2842, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white annular block with the purple rod, moving the block downward along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3014, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: pull_release: Right hand pulls the purple peg upward along the hole of the white block on the wooden base and releases the peg."}, {"label": "goal", "start_step": 2981, "end_step": 3088, "id": "bf01b6bd-2a69-4604-9506-275d85e29b72"}, {"label": "subtasks", "start_step": 3015, "end_step": 3051, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 3052, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "goal", "start_step": 3089, "end_step": 3302, "id": "fdeb84ef-6d3d-4b16-833e-845056f1c269"}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white ring-shaped block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3157, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white ring-shaped block leftward and upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3158, "end_step": 3261, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white ring-shaped block with the purple rod by aligning the hole and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring-shaped block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 3300, "end_step": 3321, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the top of the white bottle with green band on the wooden tray."}, {"label": "goal", "start_step": 3303, "end_step": 3444, "id": "0246636d-4aaf-4e22-b45e-2629cfd4baa6"}, {"label": "subtasks", "start_step": 3322, "end_step": 3367, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3389, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting and closing around the cube to form a stable grip."}, {"label": "goal", "start_step": 3445, "end_step": 3604, "id": "f7495b51-b599-4a17-8c66-e50ad316c827"}, {"label": "subtasks", "start_step": 3472, "end_step": 3524, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the dark table surface and moves it leftward to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 3525, "end_step": 3569, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost column and lowers it to fit onto the column."}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green cube downward along the column to secure it in place."}, {"label": "home", "start_step": 3638, "end_step": 3667, "id": "_-X_PNOCQTHkL1WiMhbKb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the left area of the black table."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and lowers it onto the peg to complete initial fitting."}, {"label": "subtasks", "start_step": 338, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats upward and away from the leftmost peg while remaining empty."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the front-left purple peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base, with fingers opening from a closed grasping position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the black table and moves it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod on the wooden rack and slides it down the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the leftmost purple rod without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand adjusts the white block to fit it onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the rightmost peg, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table near the wooden rack, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and moves it downward to fit the piece onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical peg on the wooden rack and moves it downward along the peg to complete the insertion assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_upward_along_peg: Right hand holds the green hexagonal block and slides it slightly upward along the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_downward_along_peg: Right hand holds the green hexagonal block and slides it downward along the vertical peg on the wooden rack to the final assembly position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table surface and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 2542, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple peg of the wooden board, aligning the inner hole with the peg and pressing it down."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white ring onto the green post on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring on the green post, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2692, "end_step": 2737, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white annular block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2842, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white annular block with the purple rod, moving the block downward along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3014, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: pull_release: Right hand pulls the purple peg upward along the hole of the white block on the wooden base and releases the peg."}, {"label": "subtasks", "start_step": 3015, "end_step": 3051, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 3052, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white ring-shaped block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3157, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white ring-shaped block leftward and upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3158, "end_step": 3261, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white ring-shaped block with the purple rod by aligning the hole and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring-shaped block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 3300, "end_step": 3321, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the top of the white bottle with green band on the wooden tray."}, {"label": "subtasks", "start_step": 3322, "end_step": 3367, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3389, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting and closing around the cube to form a stable grip."}, {"label": "subtasks", "start_step": 3472, "end_step": 3524, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the dark table surface and moves it leftward to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 3525, "end_step": 3569, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost column and lowers it to fit onto the column."}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green cube downward along the column to secure it in place."}], "episode_index": 0}
+{"source_uid": "0a7b26010f5ff7e8", "num_frames": 3862, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white block mounted on the front-left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 212, "id": "9a40298d-496a-4172-922a-760d37a4ce56"}, {"label": "valid", "start_step": 0, "end_step": 3833, "id": "MhwOboN31ItjcMCWw4tHr"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "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 form a stable grasp on the white block on the front-left purple rod."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the grasped white block downward along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 213, "end_step": 444, "id": "548527df-0809-4435-9a92-15b1287ae93a"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "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 green block up off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "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 green block to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it onto the post initially."}, {"label": "subtasks", "start_step": 308, "end_step": 434, "id": "reasoning-language-00008", "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 post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "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 block on the purple rod of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 445, "end_step": 622, "id": "c74871fe-dd65-4d42-990d-623a5c112b4d"}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00010", "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 white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 689, "id": "reasoning-language-00011", "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, with fingers closing to adjust and form a stable grip."}, {"label": "goal", "start_step": 623, "end_step": 1290, "id": "aaf19681-849e-4bf0-9a60-4a30690bfccb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00013", "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": 862, "end_step": 884, "id": "reasoning-language-00014", "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, which falls onto the tabletop."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00015", "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 another white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00017", "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 moves it towards another purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1289, "id": "reasoning-language-00018", "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": 1290, "end_step": 1319, "id": "reasoning-language-00019", "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 ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1291, "end_step": 1418, "id": "01d9888a-1e96-42c3-aa54-78e7710d5575"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00020", "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."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00021", "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 with fingers closing around the block."}, {"label": "goal", "start_step": 1419, "end_step": 1578, "id": "b05cdd6d-8b0f-4541-a529-26af717263c9"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "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 rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00023", "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": 1575, "end_step": 1589, "id": "reasoning-language-00024", "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": 1579, "end_step": 1716, "id": "eac91812-7c0d-4fbc-a794-c06dfacd26d5"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white block onto the post of the wooden base to secure it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1671, "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 toward the white block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "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 closes its fingers to grasp the white block on the table next to the wooden base."}, {"label": "goal", "start_step": 1717, "end_step": 1946, "id": "e5b9504a-6447-4e0a-893e-3cab0cf3ab2e"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "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 white cylindrical object off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1897, "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 aligns the white cylindrical object with the purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00030", "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 object by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00031", "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 cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1947, "end_step": 2052, "id": "0c5f3f17-777b-42a1-9dd1-ddf797717c80"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00032", "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 block placed on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00033", "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 block on the black table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 2053, "end_step": 2224, "id": "397ac6e5-46b8-49f5-b1c7-b7d10646a4bf"}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00034", "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 from the tabletop and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00035", "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 with the target peg by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00036", "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": "goal", "start_step": 2225, "end_step": 2346, "id": "e8228060-eaef-48f5-9031-0045273e5735"}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00037", "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 cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 2347, "end_step": 2822, "id": "8df32985-f203-4418-8170-8c439dbf9253"}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00039", "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 object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00040", "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 cylindrical object with the purple rod on the wooden base, aligning the cylinder's hole with the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2729, "id": "reasoning-language-00041", "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 cylindrical object down along the purple rod until it fits firmly in place."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00042", "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 object, fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats slightly away from the white cylindrical object on the purple rod."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00044", "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 cylindrical object on the purple rod again to adjust its position slightly."}, {"label": "subtasks", "start_step": 2820, "end_step": 2841, "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 releases the white cylinder on the wooden base."}, {"label": "goal", "start_step": 2823, "end_step": 2944, "id": "f676a63d-d560-4904-a6f7-1c52edefd997"}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "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 reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "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 grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "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 white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2940, "end_step": 2977, "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 adjusts its grasp on the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 2945, "end_step": 3122, "id": "1f0cd35a-8f9e-4467-b948-4fadbc55c8d2"}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "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: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00051", "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 cylindrical block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00052", "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 cylindrical block onto the purple rod by aligning and sliding it down."}, {"label": "subtasks", "start_step": 3112, "end_step": 3119, "id": "reasoning-language-00053", "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 from its grasp and moves slightly away."}, {"label": "subtasks", "start_step": 3120, "end_step": 3141, "id": "reasoning-language-00054", "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 cylinder on the front-right position of the wooden base."}, {"label": "goal", "start_step": 3123, "end_step": 3226, "id": "04103b2f-9b4b-42eb-b965-19fecdc707fb"}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00055", "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 hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hollow block on the black table surface."}, {"label": "goal", "start_step": 3227, "end_step": 3526, "id": "7a1deeaa-5601-49d9-b96e-f99e47182274"}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00057", "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 cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3329, "id": "reasoning-language-00058", "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 cylindrical object towards the tube rack on the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3517, "id": "reasoning-language-00059", "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 cylindrical object onto the corresponding pin of the tube rack."}, {"label": "subtasks", "start_step": 3518, "end_step": 3524, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical object and slightly retreats upwards."}, {"label": "subtasks", "start_step": 3525, "end_step": 3554, "id": "reasoning-language-00061", "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 purple protrusion on top of the white bottle placed on the wooden base."}, {"label": "goal", "start_step": 3527, "end_step": 3646, "id": "801b38f6-a302-4654-8c71-5f8c827dc1f3"}, {"label": "subtasks", "start_step": 3555, "end_step": 3599, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 3600, "end_step": 3667, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the table surface."}, {"label": "goal", "start_step": 3647, "end_step": 3796, "id": "04fb2c54-60af-4f0f-be83-749762c1186f"}, {"label": "subtasks", "start_step": 3668, "end_step": 3704, "id": "reasoning-language-00064", "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 towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3705, "end_step": 3794, "id": "reasoning-language-00065", "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 white bottle with purple top and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green block which is already fitted onto the white bottle."}, {"label": "home", "start_step": 3834, "end_step": 3861, "id": "X4SX5ZIbiLWh9T6HdCDqf"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white block mounted on the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "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 form a stable grasp on the white block on the front-left purple rod."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the grasped white block downward along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "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 green block up off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "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 green block to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it onto the post initially."}, {"label": "subtasks", "start_step": 308, "end_step": 434, "id": "reasoning-language-00008", "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 post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "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 block on the purple rod of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00010", "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 white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 689, "id": "reasoning-language-00011", "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, with fingers closing to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00013", "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": 862, "end_step": 884, "id": "reasoning-language-00014", "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, which falls onto the tabletop."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00015", "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 another white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00017", "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 moves it towards another purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1289, "id": "reasoning-language-00018", "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": 1290, "end_step": 1319, "id": "reasoning-language-00019", "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 ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00020", "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."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00021", "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 with fingers closing around the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "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 rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00023", "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": 1575, "end_step": 1589, "id": "reasoning-language-00024", "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": 1590, "end_step": 1604, "id": "reasoning-language-00025", "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 block onto the post of the wooden base to secure it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1671, "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 toward the white block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "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 closes its fingers to grasp the white block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "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 white cylindrical object off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1897, "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 aligns the white cylindrical object with the purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00030", "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 object by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00031", "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 cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00032", "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 block placed on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00033", "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 block on the black table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00034", "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 from the tabletop and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00035", "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 with the target peg by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00036", "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": 2250, "end_step": 2287, "id": "reasoning-language-00037", "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 cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00039", "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 object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00040", "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 cylindrical object with the purple rod on the wooden base, aligning the cylinder's hole with the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2729, "id": "reasoning-language-00041", "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 cylindrical object down along the purple rod until it fits firmly in place."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00042", "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 object, fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats slightly away from the white cylindrical object on the purple rod."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00044", "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 cylindrical object on the purple rod again to adjust its position slightly."}, {"label": "subtasks", "start_step": 2820, "end_step": 2841, "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 releases the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "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 reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "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 grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "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 white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2940, "end_step": 2977, "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 adjusts its grasp on the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "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: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00051", "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 cylindrical block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00052", "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 cylindrical block onto the purple rod by aligning and sliding it down."}, {"label": "subtasks", "start_step": 3112, "end_step": 3119, "id": "reasoning-language-00053", "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 from its grasp and moves slightly away."}, {"label": "subtasks", "start_step": 3120, "end_step": 3141, "id": "reasoning-language-00054", "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 cylinder on the front-right position of the wooden base."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00055", "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 hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00057", "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 cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3329, "id": "reasoning-language-00058", "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 cylindrical object towards the tube rack on the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3517, "id": "reasoning-language-00059", "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 cylindrical object onto the corresponding pin of the tube rack."}, {"label": "subtasks", "start_step": 3518, "end_step": 3524, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical object and slightly retreats upwards."}, {"label": "subtasks", "start_step": 3525, "end_step": 3554, "id": "reasoning-language-00061", "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 purple protrusion on top of the white bottle placed on the wooden base."}, {"label": "subtasks", "start_step": 3555, "end_step": 3599, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 3600, "end_step": 3667, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the table surface."}, {"label": "subtasks", "start_step": 3668, "end_step": 3704, "id": "reasoning-language-00064", "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 towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3705, "end_step": 3794, "id": "reasoning-language-00065", "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 white bottle with purple top and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green block which is already fitted onto the white bottle."}], "episode_index": 1}
+{"source_uid": "cb07c6e3febc31de", "num_frames": 3384, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious arm displacement toward the target."}, {"label": "goal", "start_step": 0, "end_step": 230, "id": "f740ae66-cae7-4dc3-bcbc-6e5e80198c9c"}, {"label": "valid", "start_step": 0, "end_step": 3353, "id": "gEUfCqqyHHNdbJvcmt0BX"}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack with open fingers, approaching the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grasp on the object."}, {"label": "goal", "start_step": 231, "end_step": 458, "id": "dff316f6-a88a-406b-9f5e-4bae863143e2"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position it above the target purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and slides the block downward along the peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the leftmost peg of the wooden rack."}, {"label": "goal", "start_step": 459, "end_step": 600, "id": "41918e99-625e-4d4a-a7ec-5c14dbc742ec"}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table near the wooden rack, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger adjustments to establish a grasp on the block."}, {"label": "goal", "start_step": 601, "end_step": 878, "id": "6d36cd2d-4e45-4eb0-9bb0-c054de8047ba"}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table support surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden base, moving the nut directly above the target purple post."}, {"label": "subtasks", "start_step": 675, "end_step": 869, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple post, then moves the nut downward to nest it onto the post with small fine-tuning adjustments."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg on the wooden base and releases the block by opening fingers."}, {"label": "goal", "start_step": 879, "end_step": 988, "id": "85705e12-80d1-4c94-ba0f-d7bb1b776a30"}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the front-left white hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 1057, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making small adjustments to secure contact with the block."}, {"label": "goal", "start_step": 989, "end_step": 1202, "id": "3524b26c-78cb-4194-96b4-9ec28c325e28"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the wooden block, fits the nut onto the post while making minor positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod on the wooden base to seat it on the lower white block, releasing its grasp on the block."}, {"label": "goal", "start_step": 1203, "end_step": 1336, "id": "3ce42be7-828a-4851-a925-60303ddf77a0"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no observable movement of the hand, fingers or the block."}, {"label": "goal", "start_step": 1337, "end_step": 1516, "id": "5eacb638-f167-4156-a2f3-4014f305a029"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and fits the cylinder down onto the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the fitted white hexagonal cylinder on the purple rod of the wooden base without moving."}, {"label": "goal", "start_step": 1517, "end_step": 1628, "id": "2eedab66-2157-4ee8-bf23-a6c92676c608"}, {"label": "subtasks", "start_step": 1530, "end_step": 1537, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the purple peg downward, holding the block at a lower position on the peg."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward away from the wooden assembly base toward the green hexagonal block on the table surface, with fingers held open, not yet contacting the target block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger contact positions to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 1629, "end_step": 1996, "id": "116650ee-655e-4e69-ab60-4d61052ca0b6"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to the position directly above the target purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block slightly to partially fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1911, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the partially fitted green hexagonal block on the purple rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod until the block rests stably on the top surface of the white hexagonal block below."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical piece seated on the purple peg of the wooden pegboard, moving slightly away from the placed piece."}, {"label": "goal", "start_step": 1997, "end_step": 2130, "id": "1dd7a028-18ec-4e5b-9e11-8997ef2487d9"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the frontmost white hexagonal nut on the black table surface, staying empty as it approaches the target nut."}, {"label": "subtasks", "start_step": 2062, "end_step": 2151, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closing fingers and adjusting finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 2131, "end_step": 2394, "id": "14acbfaf-08f6-4cbe-997a-28cc04ef676a"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface and transports it upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2384, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical peg, making small positional and rotational adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden stacking base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 2395, "end_step": 2524, "id": "ef4d0d29-499a-43ea-b801-3a213a4a174b"}, {"label": "subtasks", "start_step": 2408, "end_step": 2467, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downwards and rightwards across the table surface, approaching the small white hexagonal nut placed next to the wooden stacking base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2519, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut next to the stacking base, fingers closing and making small adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table adjacent to the wooden assembly rack without moving."}, {"label": "goal", "start_step": 2525, "end_step": 2690, "id": "259eec4d-f8d4-4578-8b00-4c9bcfdcd686"}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to nest the nut onto the rod to establish the assembly fit."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple rod without moving."}, {"label": "goal", "start_step": 2691, "end_step": 2782, "id": "de2c1b3e-6bd4-48dd-97d6-c47da5341cd8"}, {"label": "subtasks", "start_step": 2708, "end_step": 2751, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a grasp on the object."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white cylindrical object resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2783, "end_step": 2996, "id": "c35d1ae3-fd93-4ab4-89a3-1822935926b1"}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it to the position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2910, "end_step": 2984, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white cylindrical object on the wooden block set without moving."}, {"label": "subtasks", "start_step": 2985, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple cap of the white bottle on the wooden rack downward."}, {"label": "goal", "start_step": 2997, "end_step": 3118, "id": "428a273f-46d5-4eab-9f59-8e125c59a6a8"}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the bottle area toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 3068, "end_step": 3141, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making small adjustments to form a grasp."}, {"label": "goal", "start_step": 3119, "end_step": 3306, "id": "02f5c73d-5650-49f0-8288-a6ba3886966a"}, {"label": "subtasks", "start_step": 3142, "end_step": 3157, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the green block through the air toward the upper left, moving the block to the position directly above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3172, "end_step": 3314, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green block downward, adjusting its position to place the block steadily on top of the target white bottle until the block is supported by the bottle."}, {"label": "home", "start_step": 3354, "end_step": 3383, "id": "g1TlJ9A7Yhc3Dw56OFMJ3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious arm displacement toward the target."}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack with open fingers, approaching the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position it above the target purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and slides the block downward along the peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table near the wooden rack, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table support surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden base, moving the nut directly above the target purple post."}, {"label": "subtasks", "start_step": 675, "end_step": 869, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple post, then moves the nut downward to nest it onto the post with small fine-tuning adjustments."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg on the wooden base and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the front-left white hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 1057, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making small adjustments to secure contact with the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the wooden block, fits the nut onto the post while making minor positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod on the wooden base to seat it on the lower white block, releasing its grasp on the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and fits the cylinder down onto the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the fitted white hexagonal cylinder on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1537, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the purple peg downward, holding the block at a lower position on the peg."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward away from the wooden assembly base toward the green hexagonal block on the table surface, with fingers held open, not yet contacting the target block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger contact positions to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to the position directly above the target purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block slightly to partially fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1911, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the partially fitted green hexagonal block on the purple rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod until the block rests stably on the top surface of the white hexagonal block below."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical piece seated on the purple peg of the wooden pegboard, moving slightly away from the placed piece."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the frontmost white hexagonal nut on the black table surface, staying empty as it approaches the target nut."}, {"label": "subtasks", "start_step": 2062, "end_step": 2151, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closing fingers and adjusting finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface and transports it upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2384, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical peg, making small positional and rotational adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden stacking base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2467, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downwards and rightwards across the table surface, approaching the small white hexagonal nut placed next to the wooden stacking base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2519, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut next to the stacking base, fingers closing and making small adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table adjacent to the wooden assembly rack without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to nest the nut onto the rod to establish the assembly fit."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple rod without moving."}, {"label": "subtasks", "start_step": 2708, "end_step": 2751, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a grasp on the object."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white cylindrical object resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it to the position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2910, "end_step": 2984, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white cylindrical object on the wooden block set without moving."}, {"label": "subtasks", "start_step": 2985, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple cap of the white bottle on the wooden rack downward."}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the bottle area toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 3068, "end_step": 3141, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making small adjustments to form a grasp."}, {"label": "subtasks", "start_step": 3142, "end_step": 3157, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the green block through the air toward the upper left, moving the block to the position directly above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3172, "end_step": 3314, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green block downward, adjusting its position to place the block steadily on top of the target white bottle until the block is supported by the bottle."}], "episode_index": 2}
+{"source_uid": "558028d53b6d4781", "num_frames": 3077, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the white cylindrical part on the front-left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 286, "id": "402efd9e-7185-44d9-8ed0-80543eca1290"}, {"label": "valid", "start_step": 0, "end_step": 3047, "id": "gKEeEcpV6STc4-zdD-_Tf"}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white cylindrical part upward, separating it from the purple rod support."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: transport: Right hand carries the white cylindrical part downward and leftward to the position near the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: place: Right hand lowers the white cylindrical part onto the black table surface until it is fully supported by the table."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the black table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 287, "end_step": 574, "id": "8a3fde5b-e47a-4406-b8f8-c4252644bda4"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the green block downward along the purple peg to push it further onto the rack."}, {"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 work table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 575, "end_step": 672, "id": "4bbcf2ff-cac9-4374-99c6-91f2c6f38751"}, {"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 work table without moving. | Right hand: reach: Right hand moves downward toward the upper-left white hexagonal block among the scattered blocks on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the upper-left white hexagonal block among the scattered blocks on the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 673, "end_step": 950, "id": "719ef104-55fa-4832-8261-8f1725e7eb5c"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully lifted off the supporting surface."}, {"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 work table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by aligning the inner hole and lowering the part down onto the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring part onto the leftmost purple peg and releases the part."}, {"label": "goal", "start_step": 951, "end_step": 1068, "id": "85846a25-6fa8-4d80-8bc0-49bead861603"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal part on the front-left of the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the front-left of the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1069, "end_step": 1262, "id": "bbabe418-e3a4-4f9b-b3f2-b78b3e50b766"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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 purple pegs."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it into position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the purple vertical rod, with fingers gradually opening to detach from the block."}, {"label": "goal", "start_step": 1263, "end_step": 1382, "id": "28a1ea7d-5813-4e20-a4e5-14bbb4bca5d7"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left part of the table surface, without touching the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1383, "end_step": 1568, "id": "7dc3b1b9-8089-4c68-801d-78eb6b3bf04b"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and rightward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1507, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg of the wooden rack, aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1569, "end_step": 1660, "id": "9871aa8b-d20a-4a5a-87f6-0d6cee93f6bf"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with fingers open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers closing."}, {"label": "goal", "start_step": 1661, "end_step": 1902, "id": "586af36c-3853-4a1e-9293-2acd5e61b221"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green cubic block with a white peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1762, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the white peg without any observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1903, "end_step": 2012, "id": "6c08b902-cc38-49cb-9beb-a471dd3f9258"}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"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 work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2013, "end_step": 2188, "id": "aeb61bec-aeb2-4ab3-bd69-cdce56c44597"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and transports it towards the wooden rack with stacked green and white parts."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the vertical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part fitted on the wooden rack post without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2189, "end_step": 2306, "id": "8909dfa9-5a6e-47ee-8613-9038ae161119"}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2307, "end_step": 2488, "id": "ae5ec0cf-b200-4a5c-bfba-ad2d5ceb9ffe"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the central hole and sliding it downwards along the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white component on the purple peg of the wooden base, with fingers gradually opening until separated from the component."}, {"label": "goal", "start_step": 2489, "end_step": 2560, "id": "69755226-ca1e-4211-8c95-4dcde74dc16f"}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal object on the table, keeping empty during movement."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table surface, with fingers closing and adjusting to form a grip."}, {"label": "goal", "start_step": 2561, "end_step": 2736, "id": "dd112957-e799-4224-b4e3-de039d81ccdd"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2707, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack, fitting it down to the base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, fingers opening to separate from the object."}, {"label": "goal", "start_step": 2737, "end_step": 2828, "id": "d41ccdde-e76d-487c-9301-cebec0f1eaa1"}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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": "goal", "start_step": 2829, "end_step": 3010, "id": "94e57a89-8094-4236-abcb-4fb640a0586a"}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the dark table surface and transports it toward the white bottle with a purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the green ring onto the white bottle with a purple tip by aligning the ring's hole with the bottle and lowering it down."}, {"label": "subtasks", "start_step": 3000, "end_step": 3014, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening to separate from the ring."}, {"label": "home", "start_step": 3048, "end_step": 3076, "id": "SSoB45ZxilZf6XS6PPWdS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the white cylindrical part on the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white cylindrical part upward, separating it from the purple rod support."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: transport: Right hand carries the white cylindrical part downward and leftward to the position near the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: place: Right hand lowers the white cylindrical part onto the black table surface until it is fully supported by the table."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the black table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the green block downward along the purple peg to push it further onto the rack."}, {"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 work table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base and releases the block."}, {"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 work table without moving. | Right hand: reach: Right hand moves downward toward the upper-left white hexagonal block among the scattered blocks on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the upper-left white hexagonal block among the scattered blocks on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully lifted off the supporting surface."}, {"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 work table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by aligning the inner hole and lowering the part down onto the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring part onto the leftmost purple peg and releases the part."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal part on the front-left of the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the front-left of the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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 purple pegs."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it into position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the purple vertical rod, with fingers gradually opening to detach from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left part of the table surface, without touching the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and rightward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1507, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg of the wooden rack, aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with fingers open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green cubic block with a white peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1762, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the white peg without any observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"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 work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and transports it towards the wooden rack with stacked green and white parts."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the vertical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part fitted on the wooden rack post without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the central hole and sliding it downwards along the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white component on the purple peg of the wooden base, with fingers gradually opening until separated from the component."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal object on the table, keeping empty during movement."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table surface, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2707, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack, fitting it down to the base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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": 2858, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the dark table surface and transports it toward the white bottle with a purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the green ring onto the white bottle with a purple tip by aligning the ring's hole with the bottle and lowering it down."}, {"label": "subtasks", "start_step": 3000, "end_step": 3014, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening to separate from the ring."}], "episode_index": 3}
+{"source_uid": "40a6633887d850a7", "num_frames": 3025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial position to the left home position in front of the robot. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 0, "end_step": 276, "id": "6b98ca57-f8be-4afb-90e8-193d12758481"}, {"label": "valid", "start_step": 0, "end_step": 2995, "id": "vbxbv3v9MxCKzb7pIED7K"}, {"label": "subtasks", "start_step": 38, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block to form a stable grasp, with the block resting on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 277, "end_step": 570, "id": "22d3c4a1-8816-4d13-ac6a-dffd12087600"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hexagonal hole of the green block with the purple peg, and lowers the block slightly to begin fitting it onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary above the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand lowers the green hexagonal block further along the purple peg until the block rests securely on the wooden base, completing the assembly fit."}, {"label": "goal", "start_step": 571, "end_step": 708, "id": "434697ee-a230-4842-a0c2-1e906ef4deb3"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger contact positions around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 709, "end_step": 891, "id": "4d1ac1a4-57b9-41a9-ba4d-eab679b4abd4"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the wooden base and makes small wrist and finger adjustments to lower the block onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the left purple peg of the wooden assembly board, releasing the block as the block rests securely on the peg."}, {"label": "goal", "start_step": 892, "end_step": 993, "id": "4e0af979-998f-42fa-9dbb-36c4e005c907"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned on the front area of the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the front table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "goal", "start_step": 994, "end_step": 1170, "id": "05ee0618-251f-4617-92c1-8840a029bd75"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface, moving it upward and horizontally toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1042, "end_step": 1169, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylinder with the top of the target purple peg on the wooden board, lowers the cylinder, and makes small positional adjustments to fit the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held white cylindrical block with the right purple rod on the wooden base, fits it onto the rod to complete assembly, opens fingers to release the block."}, {"label": "goal", "start_step": 1171, "end_step": 1311, "id": "6af5f53c-8185-4aa2-83ad-158269226072"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the nearby white hexagonal nut on the table surface while remaining empty."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, lifts the nut slightly off the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal nut in a fixed position without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white cylindrical block resting on the table next to the wooden peg base, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1312, "end_step": 1533, "id": "6fe46f28-e8d3-46c4-91d3-80c88081e468"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block off the table surface and transports it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple peg, fits the block onto the peg, and moves the block downward along the peg to continue the assembly process."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cylinder, moves it downward to place it onto the purple peg on the wooden base until the cylinder is stably supported, opens fingers to release the cylinder."}, {"label": "goal", "start_step": 1534, "end_step": 1632, "id": "f6ec3008-7634-4fe6-b59d-765b3e027046"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block adjacent to the wooden base on the black table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1633, "end_step": 1848, "id": "93e7bb6d-4597-45c5-979c-317010d26be5"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the area above the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1844, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | 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 to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden assembly stand, moving fingers away from the rod."}, {"label": "goal", "start_step": 1849, "end_step": 1959, "id": "329d42f9-6cb3-4e71-b94d-06d5a3d87dd8"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without visible movement or grip adjustment."}, {"label": "goal", "start_step": 1960, "end_step": 2136, "id": "248644ed-cd9a-4ef3-99c9-ff74320c425b"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the top white cylindrical block on the stacked block assembly, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 2137, "end_step": 2271, "id": "f03df407-4ac9-4287-945e-894fb41e52e8"}, {"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 any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table adjacent to the wooden block platform, remaining empty and not yet touching the block as it approaches."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes initial light contact with the white hexagonal block on the table, closes fingers around the block and makes small positional adjustments to form a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the small white cylindrical block placed on the table next to the wooden block holder."}, {"label": "goal", "start_step": 2272, "end_step": 2451, "id": "540b3586-99bc-403a-8f0d-8284dd9fd3ce"}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block to the position directly above the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2444, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod, moves it downward to nest onto the rod and complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, with fingers kept open."}, {"label": "goal", "start_step": 2452, "end_step": 2553, "id": "1468595a-134b-475e-9c95-707d40d385c1"}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closes fingers and makes small adjustments to form a grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylindrical object on the black table surface without moving."}, {"label": "goal", "start_step": 2554, "end_step": 2706, "id": "6eaec10b-a374-4d0f-8a25-9a555977e2d3"}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical object off the table surface and transports it toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylindrical object with the empty slot on the wooden block rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the front-right white bottle on the wooden rack, with fingers opening to detach from the bottle surface."}, {"label": "goal", "start_step": 2707, "end_step": 2811, "id": "dcf310fa-f3ca-4b60-a432-ce1837096bce"}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cube on the black table, with fingers held open while approaching the target object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, making small adjustments to finger positions and wrist angle to establish a secure grip."}, {"label": "goal", "start_step": 2812, "end_step": 2961, "id": "b34284e2-b33e-432a-b55e-7cd70d723564"}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block fully off the table surface and moves it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden rack, makes small positional adjustments, and inserts the block into the slot until it rests stably on the rack."}, {"label": "home", "start_step": 2996, "end_step": 3024, "id": "QnOu-j7SCx5BTVLTLrrU3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial position to the left home position in front of the robot. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 38, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block to form a stable grasp, with the block resting on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hexagonal hole of the green block with the purple peg, and lowers the block slightly to begin fitting it onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary above the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand lowers the green hexagonal block further along the purple peg until the block rests securely on the wooden base, completing the assembly fit."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger contact positions around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the wooden base and makes small wrist and finger adjustments to lower the block onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the left purple peg of the wooden assembly board, releasing the block as the block rests securely on the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned on the front area of the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the front table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface, moving it upward and horizontally toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1042, "end_step": 1169, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylinder with the top of the target purple peg on the wooden board, lowers the cylinder, and makes small positional adjustments to fit the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held white cylindrical block with the right purple rod on the wooden base, fits it onto the rod to complete assembly, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the nearby white hexagonal nut on the table surface while remaining empty."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, lifts the nut slightly off the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal nut in a fixed position without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white cylindrical block resting on the table next to the wooden peg base, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block off the table surface and transports it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple peg, fits the block onto the peg, and moves the block downward along the peg to continue the assembly process."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cylinder, moves it downward to place it onto the purple peg on the wooden base until the cylinder is stably supported, opens fingers to release the cylinder."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block adjacent to the wooden base on the black table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the area above the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1844, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | 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 to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden assembly stand, moving fingers away from the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the top white cylindrical block on the stacked block assembly, fingers opening to break contact with the block."}, {"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 any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table adjacent to the wooden block platform, remaining empty and not yet touching the block as it approaches."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes initial light contact with the white hexagonal block on the table, closes fingers around the block and makes small positional adjustments to form a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the small white cylindrical block placed on the table next to the wooden block holder."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block to the position directly above the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2444, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod, moves it downward to nest onto the rod and complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closes fingers and makes small adjustments to form a grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylindrical object on the black table surface without moving."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical object off the table surface and transports it toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylindrical object with the empty slot on the wooden block rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the front-right white bottle on the wooden rack, with fingers opening to detach from the bottle surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cube on the black table, with fingers held open while approaching the target object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, making small adjustments to finger positions and wrist angle to establish a secure grip."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block fully off the table surface and moves it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden rack, makes small positional adjustments, and inserts the block into the slot until it rests stably on the rack."}], "episode_index": 4}
+{"source_uid": "2d0051bc3c2891e5", "num_frames": 2916, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and then downward toward the green cube on the table to the left of the wooden rack, remaining empty with fingers slightly open during movement."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "091c3a20-bed6-4452-8f18-4539c5c80f41"}, {"label": "valid", "start_step": 0, "end_step": 2887, "id": "s8SDrZr_guiKLSha3xICg"}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 cube on the table, with fingers closing around the block to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 158, "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: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "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 cube on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 214, "end_step": 384, "id": "eaf1f910-2932-428c-b30d-33ed2e2e18a6"}, {"label": "subtasks", "start_step": 248, "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_transport: Right hand lifts the green cube off the table and transports it above the peg of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the peg on the pegboard and fits it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "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 onto the leftmost purple peg of the block set."}, {"label": "goal", "start_step": 385, "end_step": 486, "id": "936417b8-8e7e-464f-a85f-9c582ed5a727"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "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 black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "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 black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 487, "end_step": 693, "id": "20cd63b6-35af-43f0-9fe0-da55e9896db8"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 part from the table and transports it above the purple peg of the assembly board."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg and mates it onto the peg by moving downward."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "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 part on the purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the middle vertical peg of the block set, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 694, "end_step": 837, "id": "99756fdb-ae2c-41d9-9cca-d4fdce336fd1"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "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 and leftward from the top peg area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 788, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 838, "end_step": 1041, "id": "64451c39-d4eb-4620-b00f-7065f8f8f83a"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 1034, "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 object onto the front-left purple peg of the wooden pegboard, adjusting to align and fit the object onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white ring on the middle purple peg and releases it."}, {"label": "goal", "start_step": 1042, "end_step": 1164, "id": "4e97bf8c-736e-488c-a1db-15ad21a9b35d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1095, "end_step": 1199, "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 ring on the table in front of the wooden peg board, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1165, "end_step": 1497, "id": "487e66b3-f6bc-402b-9e95-c6d450ce3613"}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "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 hollow cylindrical part off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden rack and assembles it downward, with continuous fine position adjustments."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the rightmost purple peg and releases its grip."}, {"label": "goal", "start_step": 1498, "end_step": 1602, "id": "c0d6c48e-e3f3-4954-b2ed-a3110790aa40"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left 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."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "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": 1590, "end_step": 1619, "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 square block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1746, "id": "581196ab-1977-48d2-9c33-bb8115c0e01f"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00034", "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 square block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base block area toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1747, "end_step": 1845, "id": "7d76cc73-cdc7-48cf-95e7-843c049d622f"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "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 piece with a central hole on the dark table, adjusting its fingers to stabilize the grip."}, {"label": "goal", "start_step": 1846, "end_step": 2016, "id": "1f3159b0-0d05-4546-8355-78e90266ad45"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 hexagonal piece off the table and transports it toward the green and white block assembly in the middle of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal piece with the green cylindrical post on the middle assembly and presses it down along the post to the assembled position."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00041", "text": "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 rack, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2017, "end_step": 2115, "id": "971304e2-5b6d-4b00-a8a6-6174d6b128e8"}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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 reaches downward toward the small white hexagonal block on the table beside the wooden rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 grasps the small white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "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 object on the table at the lower right of the test tube rack, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2116, "end_step": 2265, "id": "d504bccc-eeb6-4428-a2b1-366bdcf4fd02"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "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 small white object from the table and transports it upward and leftward toward the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "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 mates the small white object with the top of the purple rod on the test tube rack, aligning the object and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small white object downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "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 small white object on the purple rod, with fingers opening and moving away from the object."}, {"label": "goal", "start_step": 2266, "end_step": 2364, "id": "e38ea633-d8e5-4768-a2eb-6d9a42476e64"}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "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, with fingers slightly open."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "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": "goal", "start_step": 2365, "end_step": 2517, "id": "99f65b61-1896-4097-a72a-ac6cce215ede"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, lowering the ring down along the rod to complete the fitting."}, {"label": "goal", "start_step": 2518, "end_step": 2625, "id": "6fcc6989-3429-48b5-85b4-70e496a94234"}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2565, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2626, "end_step": 2847, "id": "f0c4d2a2-91d5-4765-be1e-c6b1ecc20503"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left 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 from the table and transports it toward the bottle with a purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00058", "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 mouth of the purple-top bottle and fits it onto the bottle initially."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00059", "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 ring downward along the bottle body to fully fit it into place."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00060", "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 ring on the purple-top bottle without moving."}, {"label": "home", "start_step": 2888, "end_step": 2915, "id": "zWRyGb5zpkUdvH1m6dMUV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and then downward toward the green cube on the table to the left of the wooden rack, remaining empty with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 cube on the table, with fingers closing around the block to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 158, "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: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "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 cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "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_transport: Right hand lifts the green cube off the table and transports it above the peg of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the peg on the pegboard and fits it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "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 onto the leftmost purple peg of the block set."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "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 black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "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 black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 part from the table and transports it above the purple peg of the assembly board."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg and mates it onto the peg by moving downward."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "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 part on the purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the middle vertical peg of the block set, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "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 and leftward from the top peg area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 788, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 1034, "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 object onto the front-left purple peg of the wooden pegboard, adjusting to align and fit the object onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white ring on the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1095, "end_step": 1199, "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 ring on the table in front of the wooden peg board, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "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 hollow cylindrical part off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden rack and assembles it downward, with continuous fine position adjustments."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the rightmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left 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."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "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": 1590, "end_step": 1619, "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 square block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00034", "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 square block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base block area toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "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 piece with a central hole on the dark table, adjusting its fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 hexagonal piece off the table and transports it toward the green and white block assembly in the middle of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal piece with the green cylindrical post on the middle assembly and presses it down along the post to the assembled position."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00041", "text": "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 rack, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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 reaches downward toward the small white hexagonal block on the table beside the wooden rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 grasps the small white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "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 object on the table at the lower right of the test tube rack, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "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 small white object from the table and transports it upward and leftward toward the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "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 mates the small white object with the top of the purple rod on the test tube rack, aligning the object and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small white object downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "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 small white object on the purple rod, with fingers opening and moving away from the object."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "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, with fingers slightly open."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "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": 2392, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, lowering the ring down along the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2565, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left 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 from the table and transports it toward the bottle with a purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00058", "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 mouth of the purple-top bottle and fits it onto the bottle initially."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00059", "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 ring downward along the bottle body to fully fit it into place."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00060", "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 ring on the purple-top bottle without moving."}], "episode_index": 5}
+{"source_uid": "d4f389e1e67d40bd", "num_frames": 3048, "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 operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal part on the front-left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 273, "id": "4dcae02f-fc09-4e4e-a010-d05e106cd1d4"}, {"label": "valid", "start_step": 0, "end_step": 3016, "id": "nlonJ-pLmedYxvr35VZyI"}, {"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 operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "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 part downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table surface."}, {"label": "goal", "start_step": 274, "end_step": 570, "id": "27541b0a-8a22-4ade-bc4a-604a223beca1"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00005", "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 green block off the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block above the purple rod on the wooden base."}, {"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 operation area without moving. | Right hand: mate: Right hand aligns the green block's hole with the purple rod."}, {"label": "subtasks", "start_step": 420, "end_step": 569, "id": "reasoning-language-00008", "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 is fully seated."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the wooden base with vertical pegs towards the operator."}, {"label": "goal", "start_step": 571, "end_step": 684, "id": "c0db7b3b-a8e0-40ee-b5b9-a4d3b75c6163"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00011", "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."}, {"label": "goal", "start_step": 685, "end_step": 882, "id": "1f36e97b-aab7-4bbb-ac8e-86b6fe1efcad"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00012", "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 object off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00013", "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 object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "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 ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 883, "end_step": 996, "id": "09d1efff-0a4d-4ee6-aa0a-0513beaec932"}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00015", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 997, "end_step": 1272, "id": "9f0ecb24-0065-4b3b-83bc-a63fe7420d1b"}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00017", "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 object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00018", "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 object with the purple rod on the wooden rack and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00019", "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 purple peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 1273, "end_step": 1428, "id": "15d6c0ff-aa76-4ff3-8ab9-2193a65577ed"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00020", "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 white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1454, "id": "reasoning-language-00021", "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 tabletop, fingers close and adjust to form a stable grip."}, {"label": "goal", "start_step": 1429, "end_step": 1584, "id": "4db9bf9b-cc80-4842-b885-4255ba041f1e"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00022", "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 to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00023", "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 with the purple rod by aligning and inserting it onto the rod."}, {"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 operation 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": 1585, "end_step": 1680, "id": "cc57655b-9fbf-4b07-a722-928b90b01ec4"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00025", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00026", "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 green square block on the table surface."}, {"label": "goal", "start_step": 1681, "end_step": 1899, "id": "35fdad3a-9a2a-4a7c-a75b-7dffffcaa65c"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00027", "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 tabletop and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00028", "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 white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00029", "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 white peg to move it closer to the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00030", "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 corresponding peg of the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2004, "id": "204687de-ddaa-4b04-be63-b4133834521b"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the placed white cylindrical block and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2005, "end_step": 2163, "id": "e29305f8-0c3c-4243-95bb-e952359381d0"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00033", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00034", "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, lowering it and pressing down to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "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 releases the white hexagonal block that is fitted on the purple rod."}, {"label": "goal", "start_step": 2164, "end_step": 2292, "id": "71449a74-5697-4063-aa38-004df0567669"}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 downward towards the white hexagonal part on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2317, "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 its fingers and adjusts to establish a stable grasp on the white hexagonal part on the table."}, {"label": "goal", "start_step": 2293, "end_step": 2463, "id": "7e3f7afe-5fbf-4fd0-920e-5eaeef95de6b"}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "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 hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "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 lowers the white hexagonal block and places it onto the purple rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "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 hexagonal block after it is positioned on the purple rod."}, {"label": "goal", "start_step": 2464, "end_step": 2544, "id": "e174b706-946c-4306-9ca8-f15e2dd00775"}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "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 downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "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 its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2545, "end_step": 2751, "id": "f9d356b5-5092-4a8d-8cbe-03c058562963"}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "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 block off the table and transports it towards the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2655, "end_step": 2744, "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 block into the empty slot on the wooden rack and adjusts its position to fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white bottle with purple cap on the wooden tray."}, {"label": "goal", "start_step": 2752, "end_step": 2853, "id": "e4e1f286-10d7-41a4-a043-8411e4177e68"}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "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 down towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "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 adjusts fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2854, "end_step": 2988, "id": "1bf0af39-5687-42c4-a149-e3b1e7b736b3"}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "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 object off the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "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 object onto the corresponding position of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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_retreat: Right hand releases the green object and retreats from the wooden tray."}, {"label": "home", "start_step": 3017, "end_step": 3047, "id": "K6BPNPDYPNQse8J0bnfeD"}], "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 operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal part on the front-left purple rod of the wooden base."}, {"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 operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "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 part downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00005", "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 green block off the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block above the purple rod on the wooden base."}, {"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 operation area without moving. | Right hand: mate: Right hand aligns the green block's hole with the purple rod."}, {"label": "subtasks", "start_step": 420, "end_step": 569, "id": "reasoning-language-00008", "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 is fully seated."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the wooden base with vertical pegs towards the operator."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00011", "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."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00012", "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 object off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00013", "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 object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "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 ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00015", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00017", "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 object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00018", "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 object with the purple rod on the wooden rack and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00019", "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 purple peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00020", "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 white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1454, "id": "reasoning-language-00021", "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 tabletop, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00022", "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 to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00023", "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 with the purple rod by aligning and inserting it onto the rod."}, {"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 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": 1605, "end_step": 1634, "id": "reasoning-language-00025", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00026", "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 green square block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00027", "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 tabletop and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00028", "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 white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00029", "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 white peg to move it closer to the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00030", "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 corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the placed white cylindrical block and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00033", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00034", "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, lowering it and pressing down to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "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 releases the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 downward towards the white hexagonal part on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2317, "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 its fingers and adjusts to establish a stable grasp on the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "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 hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "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 lowers the white hexagonal block and places it onto the purple rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "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 hexagonal block after it is positioned on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "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 downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "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 its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "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 block off the table and transports it towards the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2655, "end_step": 2744, "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 block into the empty slot on the wooden rack and adjusts its position to fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "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 down towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "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 adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "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 object off the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "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 object onto the corresponding position of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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_retreat: Right hand releases the green object and retreats from the wooden tray."}], "episode_index": 6}
+{"source_uid": "38515af829ee6bf8", "num_frames": 2635, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial raised position to the left home position with slight finger adjustments, stopping at the home position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "87158ac0-bea1-4de8-8df1-95fce16a6a3f"}, {"label": "valid", "start_step": 0, "end_step": 2604, "id": "s8_9ZbKpkexCZA9RQH2V1"}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block near the wooden peg board, adjusting finger and wrist positions while closing fingers to establish a grasp."}, {"label": "goal", "start_step": 196, "end_step": 381, "id": "9eb264b4-2d17-4f0e-87a7-f2de594389f4"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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 purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block placed on the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 382, "end_step": 483, "id": "c3c44e29-4a4b-4527-9622-ea678252ca35"}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 435, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish a grip."}, {"label": "goal", "start_step": 484, "end_step": 651, "id": "8c900f93-9638-40cd-95e7-c547a67600d0"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rods on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting the nut's position to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: press: Right hand presses the top surfaces of the white hexagonal sleeves on the purple pegs of the wooden base downward to seat the sleeves fully onto the pegs."}, {"label": "goal", "start_step": 652, "end_step": 774, "id": "751dd53f-e5a7-4a09-9cdc-2f19ee349158"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "goal", "start_step": 775, "end_step": 945, "id": "472ea589-22d4-4828-b84b-3b1e2ac894a0"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden rack, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits the block onto the rightmost purple peg on the pegboard, releases the block with fingers opening as the block is stably supported by the peg."}, {"label": "goal", "start_step": 946, "end_step": 1080, "id": "e1e0a8e8-faf0-412a-a2e4-c4f1e47bc683"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block on the table in front of the pegboard, approaching the block surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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": 1020, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the pegboard without any observable movement or grip adjustment."}, {"label": "goal", "start_step": 1081, "end_step": 1299, "id": "fa738af0-eaf4-4e2a-9773-53dfd794bc00"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal object vertically upward until it fully leaves the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the held white hexagonal object upward and toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1267, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple peg, lowers and adjusts the object to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal object seated on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position near the wooden pegboard toward the front green hexagonal block on the black table surface, without contacting the target block."}, {"label": "goal", "start_step": 1300, "end_step": 1398, "id": "21c187cd-7e0f-4afd-86c5-ddb4774092bb"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the front green hexagonal block steadily on the table surface, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal ring resting on the black table surface."}, {"label": "goal", "start_step": 1399, "end_step": 1536, "id": "6aacde8c-4f0f-4df8-bd13-0e303bacbce2"}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal ring vertically upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the grasped green hexagonal ring upward and toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal ring with the purple rod, lowering the ring to fit it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: place_release: Right hand adjusts the green hexagonal block to seat it on the wooden base peg and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1537, "end_step": 1638, "id": "6854708f-4ba9-44ce-8e46-665868254d57"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish grip on the block."}, {"label": "goal", "start_step": 1639, "end_step": 1800, "id": "0e6190d9-d195-43c1-81fc-dc20ed32eda0"}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit securely onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal nut adjacent to the right edge of the wooden base, with fingers extended and no contact with the target nut."}, {"label": "goal", "start_step": 1801, "end_step": 1902, "id": "88bd1507-aec8-48b6-a950-61f9b810dd00"}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1903, "end_step": 2046, "id": "a1001fc6-d870-4d82-b2b4-e5db9c5f51e2"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers it to fit onto the rod, and sets it down onto the existing white nut at the bottom of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position beside the wooden block rack toward the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 2047, "end_step": 2127, "id": "832a0177-3d34-4d17-82fa-ecf4a46e20c9"}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish contact with the nut which stays on the table surface."}, {"label": "goal", "start_step": 2128, "end_step": 2313, "id": "38262398-e402-42f7-9336-b92baf6c3671"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden holder and inserts the block into the slot."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the inserted white cylindrical block, separating from the block surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward and toward the lower right from the position near the white cylindrical objects on the wooden base, approaching the green square block on the table surface without making contact."}, {"label": "goal", "start_step": 2314, "end_step": 2409, "id": "0171c6ab-e004-4ef6-9391-753f0a536d49"}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2410, "end_step": 2571, "id": "4c841fbe-ef1e-4bc9-b5f3-9ad6c51f7d02"}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position above the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the target white post on the block stack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, leaving the block stably seated on the target post."}, {"label": "home", "start_step": 2605, "end_step": 2634, "id": "maarxAVStcSMYg2yJlZ1t"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial raised position to the left home position with slight finger adjustments, stopping at the home position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block near the wooden peg board, adjusting finger and wrist positions while closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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 purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block placed on the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 435, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish a grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rods on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting the nut's position to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: press: Right hand presses the top surfaces of the white hexagonal sleeves on the purple pegs of the wooden base downward to seat the sleeves fully onto the pegs."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden rack, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits the block onto the rightmost purple peg on the pegboard, releases the block with fingers opening as the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block on the table in front of the pegboard, approaching the block surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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": 1020, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the pegboard without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal object vertically upward until it fully leaves the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the held white hexagonal object upward and toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1267, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple peg, lowers and adjusts the object to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal object seated on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position near the wooden pegboard toward the front green hexagonal block on the black table surface, without contacting the target block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the front green hexagonal block steadily on the table surface, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal ring resting on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal ring vertically upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the grasped green hexagonal ring upward and toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal ring with the purple rod, lowering the ring to fit it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: place_release: Right hand adjusts the green hexagonal block to seat it on the wooden base peg and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit securely onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal nut adjacent to the right edge of the wooden base, with fingers extended and no contact with the target nut."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers it to fit onto the rod, and sets it down onto the existing white nut at the bottom of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position beside the wooden block rack toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish contact with the nut which stays on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden holder and inserts the block into the slot."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the inserted white cylindrical block, separating from the block surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward and toward the lower right from the position near the white cylindrical objects on the wooden base, approaching the green square block on the table surface without making contact."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position above the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the target white post on the block stack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, leaving the block stably seated on the target post."}], "episode_index": 7}
+{"source_uid": "75e14b250fb17df7", "num_frames": 2830, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating slightly and fingers opening gradually. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "goal", "start_step": 0, "end_step": 327, "id": "c2c7efc5-7cef-4e71-a0ee-1bc20e5b3b42"}, {"label": "valid", "start_step": 0, "end_step": 2799, "id": "ZbRRH4HHQsd9t577yTjYr"}, {"label": "subtasks", "start_step": 30, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left side of the wooden rack, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 328, "end_step": 495, "id": "e78278c0-3f4e-497f-bfc6-193763aa3c03"}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost purple peg and slides the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on top of the purple peg, with fingers opening to loosen the grip."}, {"label": "goal", "start_step": 496, "end_step": 597, "id": "8d205ee9-8cf6-4d8c-98fe-8fe8530b60d1"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 548, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 598, "end_step": 846, "id": "eea4cb59-b407-42b9-9c26-83e6067dcd18"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and fits it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "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 part fitted on the leftmost purple peg without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden pegboard, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 847, "end_step": 984, "id": "3110ac4b-2a94-40a9-a034-1cbf7297cbbd"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing and adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 985, "end_step": 1137, "id": "a3319cda-eccd-4a4c-94d1-93506b762fd0"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden peg rack on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1147, "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 block with a peg on the wooden rack and inserts it downward to complete assembly."}, {"label": "goal", "start_step": 1138, "end_step": 1272, "id": "62d503dc-e31c-4f8a-9afe-dbee7f5f3cc5"}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the leftmost peg, with fingers opening."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "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 grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "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 cylindrical piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1273, "end_step": 1422, "id": "608c9c4a-2a0f-474f-8863-01bbf58469a3"}, {"label": "subtasks", "start_step": 1305, "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: lift: Right hand lifts the white cylindrical piece off the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00028", "text": "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 piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1423, "end_step": 1515, "id": "849115f7-dd98-4fa3-99b2-fc4eac998b3d"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "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 cylindrical block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "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 square block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "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 square block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1516, "end_step": 1668, "id": "bf38c747-304c-4aa9-9b62-92e77e706d25"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "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 wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1669, "end_step": 1770, "id": "b632fcc6-dd2d-4675-b949-e112e73b1c42"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with hand empty."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00040", "text": "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": "goal", "start_step": 1771, "end_step": 1932, "id": "35734756-23ba-4364-9e77-0da0edec6979"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand carries the white hexagonal block upward and leftward from the table surface to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green-white cylindrical part onto the purple rod on the central rack and releases it."}, {"label": "goal", "start_step": 1933, "end_step": 2043, "id": "d03e1a67-c219-4619-b12a-44cd52c44dae"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "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 hexagonal part on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2044, "end_step": 2178, "id": "09db8f64-4918-4e09-ab20-eb73aecff4f4"}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical part upward off the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylindrical part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "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 mates the white hollow cylindrical part with the purple rod by lowering it along the rod until fully seated."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical part on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:pull_up_rod: Right hand pulls the purple rod upward from the rightmost white column on the wooden base."}, {"label": "goal", "start_step": 2179, "end_step": 2292, "id": "af8be0d6-4b87-42e2-a687-5ff585685655"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left 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 with fingers closing around it."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right table surface, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 2293, "end_step": 2442, "id": "c64baf77-3f4d-4283-8170-37cb3ad63954"}, {"label": "subtasks", "start_step": 2318, "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: lift: Right hand lifts the white cylindrical object upward off the table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00059", "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 object leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning the hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object by opening its fingers."}, {"label": "goal", "start_step": 2443, "end_step": 2544, "id": "ab9164c6-2692-4bc5-ad98-d888ef59e04f"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "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 to reach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "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 cubic block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00064", "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 dark table surface without moving."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00065", "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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2545, "end_step": 2736, "id": "b3f57610-8499-40fb-a841-9744d44bf9ff"}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00066", "text": "Left 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 toward the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00068", "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-topped bottle without moving."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block by gradually opening fingers."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the bottle assembly toward the right side."}, {"label": "home", "start_step": 2800, "end_step": 2829, "id": "wKHyKlkDItR9x7reG_pY_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating slightly and fingers opening gradually. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "subtasks", "start_step": 30, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left side of the wooden rack, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost purple peg and slides the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on top of the purple peg, with fingers opening to loosen the grip."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 548, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and fits it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "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 part fitted on the leftmost purple peg without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden pegboard, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing and adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden peg rack on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1147, "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 block with a peg on the wooden rack and inserts it downward to complete assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the leftmost peg, with fingers opening."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "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 grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "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 cylindrical piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1305, "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: lift: Right hand lifts the white cylindrical piece off the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00028", "text": "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 piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "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 cylindrical block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "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 square block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "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 square block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "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 wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with hand empty."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00040", "text": "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": 1792, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand carries the white hexagonal block upward and leftward from the table surface to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green-white cylindrical part onto the purple rod on the central rack and releases it."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "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 hexagonal part on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical part upward off the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylindrical part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "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 mates the white hollow cylindrical part with the purple rod by lowering it along the rod until fully seated."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical part on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:pull_up_rod: Right hand pulls the purple rod upward from the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left 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 with fingers closing around it."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right table surface, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2318, "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: lift: Right hand lifts the white cylindrical object upward off the table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00059", "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 object leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning the hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object by opening its fingers."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "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 to reach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "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 cubic block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00064", "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 dark table surface without moving."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00065", "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, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00066", "text": "Left 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 toward the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00068", "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-topped bottle without moving."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block by gradually opening fingers."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the bottle assembly toward the right side."}], "episode_index": 8}
+{"source_uid": "33fa6d35a9ba193c", "num_frames": 3016, "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": 187, "id": "reasoning-language-00001", "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 hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "2b785c97-0712-4157-8512-1724718e4a43"}, {"label": "valid", "start_step": 0, "end_step": 2988, "id": "BAGjlXcWwEKt_rnmjZjKz"}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00002", "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 green hexagonal block on the black tabletop, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 226, "end_step": 453, "id": "fcb0e598-a99c-4765-9740-e34a91990c09"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00003", "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 from the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00004", "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 block onto the leftmost purple peg of the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00006", "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 block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 454, "end_step": 573, "id": "1877cf31-37d1-4b30-a231-aa7cff2d4648"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00008", "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 block on the black table surface."}, {"label": "goal", "start_step": 574, "end_step": 816, "id": "5fdf5db9-2d0b-4843-ab79-b0f06fd0e86a"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "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 leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 711, "id": "reasoning-language-00010", "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 leftmost purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00011", "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 until it reaches the green base part."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white ring block onto the purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 817, "end_step": 942, "id": "cac07f4c-e02f-4794-b8b9-e3fe62232785"}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00014", "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 on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 943, "end_step": 1143, "id": "f66f0e38-b835-432c-934d-038568318745"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00015", "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 front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1139, "id": "reasoning-language-00016", "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 hexagonal block with the front purple rod on the wooden base by lowering and adjusting it onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00017", "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 on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1144, "end_step": 1269, "id": "85a3ae01-f1a2-4951-ba67-afef808d22a8"}, {"label": "subtasks", "start_step": 1162, "end_step": 1221, "id": "reasoning-language-00018", "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 table in front of the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00019", "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 block on the table."}, {"label": "goal", "start_step": 1270, "end_step": 1482, "id": "a3bc1e10-b848-4a15-b2fc-a553f499fdff"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00020", "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 block off the table and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00021", "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 cylindrical block with the purple peg and inserts the block onto the peg to establish an assembly relationship."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00022", "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 cylindrical block down along the purple peg until it is firmly seated."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1483, "end_step": 1581, "id": "d355d3dc-99a2-41bf-9df8-01ddc9a99d6a"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00024", "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 cubic block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00025", "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 green cubic block on the table surface."}, {"label": "goal", "start_step": 1582, "end_step": 1740, "id": "7f9e92a2-6b60-4f2d-af66-4cbfd666a9f9"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00026", "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 green block upward, making it completely leave the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00027", "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 block horizontally towards the wooden peg base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand moves the green block downward to align with the top of the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand pushes the green block down along the peg to assemble it onto the base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "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 sleeve on the wooden base and moves away from the base."}, {"label": "goal", "start_step": 1741, "end_step": 1851, "id": "3805fd0a-b360-4753-ab0f-caedc65fda7d"}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00031", "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 sleeve on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00032", "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 sleeve on the table surface, with fingers closing around the sleeve to adjust grip."}, {"label": "goal", "start_step": 1852, "end_step": 2034, "id": "4dd9c239-6e3e-483e-96b4-419493a740c2"}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00033", "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 from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00034", "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 onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical ring onto the peg on the wooden base."}, {"label": "goal", "start_step": 2035, "end_step": 2157, "id": "2e67cc63-93a9-444b-a363-be5862e8669c"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white cylindrical ring on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2189, "id": "reasoning-language-00037", "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 cylindrical ring on the table."}, {"label": "goal", "start_step": 2158, "end_step": 2328, "id": "ee83887c-2864-4b90-ad63-77aa1cf128e8"}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00038", "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 from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden base, adjusting position to fit."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00040", "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 that has been placed on the purple rod."}, {"label": "goal", "start_step": 2329, "end_step": 2433, "id": "382318fa-7cbc-4fac-93ca-15f7f114f6b2"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00041", "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 sleeve onto the purple rod on the wooden base until it is fitted in place."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00042", "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 hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00043", "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 establish stable grasp on the white hollow block on the table."}, {"label": "goal", "start_step": 2434, "end_step": 2682, "id": "5ee09be0-23e4-4bb8-aba3-d6983b25a700"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00044", "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 cylinder off the table and transports it towards the wooden tray with multiple cylinders."}, {"label": "subtasks", "start_step": 2505, "end_step": 2669, "id": "reasoning-language-00045", "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 cylinder with the empty post on the wooden tray and inserts it to complete assembly, adjusting the position for proper fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00046", "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 bottle with purple top on the wooden base."}, {"label": "goal", "start_step": 2683, "end_step": 2778, "id": "9fda7d19-2d2c-4263-8844-14259dba7da2"}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves empty towards the green block at the lower right area of the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2804, "id": "reasoning-language-00048", "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 green block on the lower right area of the table."}, {"label": "goal", "start_step": 2779, "end_step": 2946, "id": "54b7e777-eeed-4310-b253-ada919629753"}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "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 ring off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2939, "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 green ring onto the white bottle with purple top, adjusting position to fit it properly."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00051", "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 ring fitted on the white bottle with purple top."}, {"label": "home", "start_step": 2989, "end_step": 3015, "id": "WwACzZZ3pfuliOHkpYLwD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "reasoning-language-00001", "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 hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00002", "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 green hexagonal block on the black tabletop, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00003", "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 from the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00004", "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 block onto the leftmost purple peg of the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00006", "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 block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00008", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "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 leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 711, "id": "reasoning-language-00010", "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 leftmost purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00011", "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 until it reaches the green base part."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white ring block onto the purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00014", "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 on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00015", "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 front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1139, "id": "reasoning-language-00016", "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 hexagonal block with the front purple rod on the wooden base by lowering and adjusting it onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00017", "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 on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1221, "id": "reasoning-language-00018", "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 table in front of the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00019", "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 block on the table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00020", "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 block off the table and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00021", "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 cylindrical block with the purple peg and inserts the block onto the peg to establish an assembly relationship."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00022", "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 cylindrical block down along the purple peg until it is firmly seated."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00024", "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 cubic block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00025", "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 green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00026", "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 green block upward, making it completely leave the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00027", "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 block horizontally towards the wooden peg base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand moves the green block downward to align with the top of the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand pushes the green block down along the peg to assemble it onto the base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "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 sleeve on the wooden base and moves away from the base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00031", "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 sleeve on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00032", "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 sleeve on the table surface, with fingers closing around the sleeve to adjust grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00033", "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 from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00034", "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 onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical ring onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white cylindrical ring on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2189, "id": "reasoning-language-00037", "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 cylindrical ring on the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00038", "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 from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden base, adjusting position to fit."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00040", "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 that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00041", "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 sleeve onto the purple rod on the wooden base until it is fitted in place."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00042", "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 hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00043", "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 establish stable grasp on the white hollow block on the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00044", "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 cylinder off the table and transports it towards the wooden tray with multiple cylinders."}, {"label": "subtasks", "start_step": 2505, "end_step": 2669, "id": "reasoning-language-00045", "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 cylinder with the empty post on the wooden tray and inserts it to complete assembly, adjusting the position for proper fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00046", "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 bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves empty towards the green block at the lower right area of the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2804, "id": "reasoning-language-00048", "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 green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "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 ring off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2939, "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 green ring onto the white bottle with purple top, adjusting position to fit it properly."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00051", "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 ring fitted on the white bottle with purple top."}], "episode_index": 9}
+{"source_uid": "7ca0dd165f7ec65c", "num_frames": 2889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from its initial left rest position toward the central workspace with index finger extended, approaching the area above the scattered table blocks. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 201, "id": "2dd61b01-0d63-4501-85ac-630cb74c2163"}, {"label": "valid", "start_step": 0, "end_step": 2858, "id": "EbmBSWpDX3F8AQm_TXrPH"}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small finger and wrist adjustments to establish stable contact with the block which remains resting on the table surface."}, {"label": "goal", "start_step": 202, "end_step": 381, "id": "b25b7aac-f6e2-402f-bd34-375498bc7b6a"}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut slightly to fit the peg through the hole, forming the assembly connection."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: place: Right hand lowers the green hexagonal nut along the purple peg until the nut rests stably on the white nut below, maintaining grip on the green nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand holds the white cylindrical part, aligns it with the purple peg on the wooden peg base, and presses it downward to complete the insertion fit."}, {"label": "goal", "start_step": 382, "end_step": 492, "id": "f3504097-bdf6-49de-a6bb-1ed2b4526746"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut on the table surface in front of the wooden base, approaching the target nut."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut during the grasp formation process."}, {"label": "goal", "start_step": 493, "end_step": 690, "id": "39d8239a-9a79-4556-9d81-7103f8c28921"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and lowers it with small positional adjustments to fit onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press_release: Right hand presses the white hexagonal block on the purple rod of the wooden assembly base fully onto the rod and releases contact with the block."}, {"label": "goal", "start_step": 691, "end_step": 822, "id": "785390d9-6a8a-4e6f-85d5-e4cceb60ecf8"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward and leftward from the assembly base area toward the white hexagonal nut on the black table surface, with no contact to any object."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to form a grasp, with ongoing fine adjustments of the hand and fingers."}, {"label": "goal", "start_step": 823, "end_step": 1011, "id": "d11030b0-dee2-487c-bdca-d8fde29ba98d"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the wooden block stand to position it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 878, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple rod on the wooden stand, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press: Right hand presses downward on the top of the foremost white hexagonal block mounted on the vertical purple post using extended fingers."}, {"label": "goal", "start_step": 1012, "end_step": 1146, "id": "58cbc1f4-c12f-4bf0-9e34-bbfcee45322e"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an open posture from the post assembly area toward the white hexagonal block resting on the black table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block in a stable grip, with no visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal component resting on the table adjacent to the wooden assembly block."}, {"label": "goal", "start_step": 1147, "end_step": 1302, "id": "63075174-9329-44cc-a1dc-a7fbc91eacb4"}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component off the table surface, moving it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal component to align it with the purple peg, lowering the component to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal component fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves down and right from the area above the wooden pegboard, approaching the front green hexagonal block on the black table while empty."}, {"label": "goal", "start_step": 1303, "end_step": 1392, "id": "ae8f2b91-d8ec-449c-bcda-f3fa46817a2c"}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers gradually close and adjust to establish a grasp on the block which remains on the table surface."}, {"label": "goal", "start_step": 1393, "end_step": 1644, "id": "645a2fcf-be67-48d7-8415-3df943e1b549"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position the block's central hole directly over the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple vertical peg, moves the block downward along the peg until the block rests stably on the lower green component on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green block onto the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "goal", "start_step": 1645, "end_step": 1758, "id": "8487db2f-ff31-42e3-8108-9ab5ee72b9b0"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut near the green square block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1759, "end_step": 1929, "id": "6b81bfe9-20e4-4bad-89ec-cc91c8030f0d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green-banded white cylinder placed on the wooden base."}, {"label": "goal", "start_step": 1930, "end_step": 2049, "id": "89d519f0-5a3a-4c16-bade-b6e14d40caf1"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal nut adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the small white hexagonal nut on the table, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2050, "end_step": 2265, "id": "fc02fd1c-829f-4a0c-8278-07d8d1368411"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the black table surface and moves the cylinder upward and horizontally to position it directly above the empty mounting hole on the wooden base next to the purple vertical rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2211, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the bottom of the white cylinder with the empty mounting hole on the wooden base and lowers the cylinder to insert it into the hole, making small positional adjustments to seat the object upright on the base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens its fingers gradually to release the white cylinder seated in the mounting hole on the wooden base, separating contact between the hand and the placed object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the loose white hexagonal block on the dark table surface, with fingers held extended as it approaches the target block."}, {"label": "goal", "start_step": 2266, "end_step": 2358, "id": "a110f6aa-43f4-4bba-8df0-a368b5880703"}, {"label": "subtasks", "start_step": 2332, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the table, making small adjustments to finger position to establish contact with the block."}, {"label": "goal", "start_step": 2359, "end_step": 2520, "id": "e738bc56-6ddc-41b8-8e42-30dd81641f7d"}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the table surface and moves it upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 2438, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white cylinder with the empty vertical slot on the wooden holder and inserts the cylinder into the slot."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the inserted white cylinder, breaking contact with the object."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the position near the stacked cylindrical objects toward the green square block on the table, with fingers slightly extended and not yet touching the target block."}, {"label": "goal", "start_step": 2521, "end_step": 2640, "id": "5c65915d-c473-4683-b79e-fac627e8867b"}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing and adjusting finger positions to form a grip on the block."}, {"label": "goal", "start_step": 2641, "end_step": 2805, "id": "c4c79a32-9838-4357-ad1c-e3321f9d7005"}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand carries the green block upward and leftward toward the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green block with the target bottle on the wooden rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand gradually opens its fingers to release the green block fitted onto the target bottle."}, {"label": "home", "start_step": 2859, "end_step": 2888, "id": "ZqPE5GnA3fRy5MfORLNVZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from its initial left rest position toward the central workspace with index finger extended, approaching the area above the scattered table blocks. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small finger and wrist adjustments to establish stable contact with the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut slightly to fit the peg through the hole, forming the assembly connection."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: place: Right hand lowers the green hexagonal nut along the purple peg until the nut rests stably on the white nut below, maintaining grip on the green nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand holds the white cylindrical part, aligns it with the purple peg on the wooden peg base, and presses it downward to complete the insertion fit."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut on the table surface in front of the wooden base, approaching the target nut."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut during the grasp formation process."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and lowers it with small positional adjustments to fit onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press_release: Right hand presses the white hexagonal block on the purple rod of the wooden assembly base fully onto the rod and releases contact with the block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward and leftward from the assembly base area toward the white hexagonal nut on the black table surface, with no contact to any object."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to form a grasp, with ongoing fine adjustments of the hand and fingers."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the wooden block stand to position it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 878, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple rod on the wooden stand, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press: Right hand presses downward on the top of the foremost white hexagonal block mounted on the vertical purple post using extended fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an open posture from the post assembly area toward the white hexagonal block resting on the black table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block in a stable grip, with no visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal component resting on the table adjacent to the wooden assembly block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component off the table surface, moving it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal component to align it with the purple peg, lowering the component to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal component fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves down and right from the area above the wooden pegboard, approaching the front green hexagonal block on the black table while empty."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers gradually close and adjust to establish a grasp on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position the block's central hole directly over the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple vertical peg, moves the block downward along the peg until the block rests stably on the lower green component on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green block onto the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut near the green square block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green-banded white cylinder placed on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal nut adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the small white hexagonal nut on the table, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the black table surface and moves the cylinder upward and horizontally to position it directly above the empty mounting hole on the wooden base next to the purple vertical rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2211, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the bottom of the white cylinder with the empty mounting hole on the wooden base and lowers the cylinder to insert it into the hole, making small positional adjustments to seat the object upright on the base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens its fingers gradually to release the white cylinder seated in the mounting hole on the wooden base, separating contact between the hand and the placed object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the loose white hexagonal block on the dark table surface, with fingers held extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the table, making small adjustments to finger position to establish contact with the block."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the table surface and moves it upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 2438, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white cylinder with the empty vertical slot on the wooden holder and inserts the cylinder into the slot."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the inserted white cylinder, breaking contact with the object."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the position near the stacked cylindrical objects toward the green square block on the table, with fingers slightly extended and not yet touching the target block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing and adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand carries the green block upward and leftward toward the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green block with the target bottle on the wooden rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand gradually opens its fingers to release the green block fitted onto the target bottle."}], "episode_index": 10}
+{"source_uid": "2cf32b31cb97531b", "num_frames": 2793, "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": 134, "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 toward the green hexagonal block on the left front area of the table."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "62986b9f-7b22-4427-be60-a1efb293af37"}, {"label": "valid", "start_step": 0, "end_step": 2761, "id": "yK_ktKe5Cy3zDiC-tg781"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 210, "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 closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 214, "end_step": 426, "id": "5c50f22a-5e1d-4bd2-87bf-367cb00b038e"}, {"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 hexagonal block upwards off the black table 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 hexagonal block upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases the ring."}, {"label": "goal", "start_step": 427, "end_step": 537, "id": "40f83c9c-f873-414b-a2cd-b35d53d4d3dc"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "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 ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "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: hold: Right hand holds the white hexagonal nut on the black tabletop without moving."}, {"label": "goal", "start_step": 538, "end_step": 726, "id": "042d562d-5fb5-452e-8535-e9d6c284b123"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black tabletop and transports it above the front-left purple peg of the peg board."}, {"label": "subtasks", "start_step": 600, "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 nut with the front-left purple peg, inserting the peg through the nut's central hole until the nut touches the green base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to compact it firmly on the green base."}, {"label": "subtasks", "start_step": 720, "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: release: Right hand releases the white cylindrical block on the right purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 727, "end_step": 843, "id": "7ff886a1-1793-48ff-8a5b-de2553586bc2"}, {"label": "subtasks", "start_step": 742, "end_step": 809, "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 from the upper peg assembly toward the white hexagonal block on the lower left of the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 844, "end_step": 1029, "id": "d52b2c6a-197b-4bef-a819-9805739f291c"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the peg board on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 1057, "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 purple peg of the peg board, lowering it slowly along the peg."}, {"label": "goal", "start_step": 1030, "end_step": 1161, "id": "87c7179f-130e-43a9-a1f6-b52e070999ce"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "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 block on the leftmost purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "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 downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "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 to stabilize the grip."}, {"label": "goal", "start_step": 1162, "end_step": 1365, "id": "de2ba763-15cd-4ff1-a424-c8901aca9c6e"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table to the position above the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden test tube rack by aligning the block's hole with the rod and sliding it down the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00025", "text": "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 piece on the purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1366, "end_step": 1509, "id": "5b4d68e0-627b-4cb3-99cc-fbd1e19c5246"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1510, "end_step": 1674, "id": "579e7090-439e-4d47-a1c6-9e94c4948eec"}, {"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 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 rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "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 with the purple peg by lowering it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00030", "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": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block on the pegboard."}, {"label": "goal", "start_step": 1675, "end_step": 1785, "id": "91261b8b-b578-45c1-8447-2335824a7d58"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes and adjusts its fingers around the white hexagonal block on the dark table surface to establish a grasp."}, {"label": "goal", "start_step": 1786, "end_step": 1944, "id": "b9fc57b7-c10f-4b0b-95d3-1be8b1826ae3"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the peg on the green block in the middle of the table."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "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 white hexagonal block with the peg on the green block and fits it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "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 white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the green block of the wooden pegboard, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1945, "end_step": 2046, "id": "55f344e3-4b35-41f9-8abf-e14902ac6e59"}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "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 down-right towards the white hexagonal block on the table, without making contact with the target."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to establish stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00040", "text": "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-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2047, "end_step": 2205, "id": "d0834d27-b321-48ad-8f55-f3c98de21d94"}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position right above the purple vertical rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal part along the purple vertical rod to rest on the lower white part and releases the part."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod downward into the white cylindrical piece on the rack."}, {"label": "goal", "start_step": 2206, "end_step": 2286, "id": "39315056-0608-41e0-b452-b8609111805d"}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "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 hexagonal piece on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2287, "end_step": 2448, "id": "02d3b83d-06e1-4d51-bb63-124b8eb74739"}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "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 block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod of the wooden rack, moving it downward until the block rests on the rack base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "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 cylinder on the right front of the wooden tray, with fingers opening and detaching from the cylinder."}, {"label": "goal", "start_step": 2449, "end_step": 2553, "id": "a2a4dfe7-5661-4b96-9415-ec6051f48552"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "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 toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "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 green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "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 green square block on the table surface without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "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 the green ring-shaped component on the right table surface, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2554, "end_step": 2718, "id": "db1ade9b-2c3b-46ae-baee-72dfd2801406"}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00055", "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-shaped component off the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "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-shaped component leftward and upward to the top of the rightmost white pillar with a purple tip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00057", "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 ring-shaped component with the rightmost white pillar, moving it downward to fit onto the pillar."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00058", "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-shaped component, with fingers opening and separating from the component."}, {"label": "home", "start_step": 2762, "end_step": 2792, "id": "2dMpxpqaYAOxWavOUjWc0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "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 toward the green hexagonal block on the left front area of the table."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 210, "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 closes its fingers to grasp the green hexagonal block on the black table surface."}, {"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 hexagonal block upwards off the black table 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 hexagonal block upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases the ring."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "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 ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "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: hold: Right hand holds the white hexagonal nut on the black tabletop without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black tabletop and transports it above the front-left purple peg of the peg board."}, {"label": "subtasks", "start_step": 600, "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 nut with the front-left purple peg, inserting the peg through the nut's central hole until the nut touches the green base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to compact it firmly on the green base."}, {"label": "subtasks", "start_step": 720, "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: release: Right hand releases the white cylindrical block on the right purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "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 from the upper peg assembly toward the white hexagonal block on the lower left of the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the peg board on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 1057, "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 purple peg of the peg board, lowering it slowly along the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "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 block on the leftmost purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "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 downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "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 to stabilize the grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table to the position above the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden test tube rack by aligning the block's hole with the rod and sliding it down the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00025", "text": "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 piece on the purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"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 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 rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "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 with the purple peg by lowering it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00030", "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": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block on the pegboard."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes and adjusts its fingers around the white hexagonal block on the dark table surface to establish a grasp."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the peg on the green block in the middle of the table."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "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 white hexagonal block with the peg on the green block and fits it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "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 white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the green block of the wooden pegboard, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "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 down-right towards the white hexagonal block on the table, without making contact with the target."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to establish stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00040", "text": "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-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position right above the purple vertical rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal part along the purple vertical rod to rest on the lower white part and releases the part."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod downward into the white cylindrical piece on the rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "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 hexagonal piece on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "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 block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod of the wooden rack, moving it downward until the block rests on the rack base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "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 cylinder on the right front of the wooden tray, with fingers opening and detaching from the cylinder."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "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 toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "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 green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "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 green square block on the table surface without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "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 the green ring-shaped component on the right table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00055", "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-shaped component off the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "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-shaped component leftward and upward to the top of the rightmost white pillar with a purple tip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00057", "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 ring-shaped component with the rightmost white pillar, moving it downward to fit onto the pillar."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00058", "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-shaped component, with fingers opening and separating from the component."}], "episode_index": 11}
+{"source_uid": "2a27e18e7f3dd154", "num_frames": 2838, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost purple rod on the wooden base, not touching the rod yet."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "8ad6a6a2-bdf7-42b4-afc0-2589bffe329a"}, {"label": "valid", "start_step": 0, "end_step": 2808, "id": "sc_VXjGSbM4mgLLhppqp_"}, {"label": "subtasks", "start_step": 98, "end_step": 247, "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 touches the leftmost purple rod on the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 208, "end_step": 492, "id": "ba73075e-8be4-4699-bb25-f84e24dc6d45"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "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 off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 479, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the green block with the purple peg and presses it down along the peg to secure the position."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 493, "end_step": 615, "id": "6b795703-e437-47e6-a765-f175296c344d"}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grip."}, {"label": "goal", "start_step": 616, "end_step": 795, "id": "424facaa-1aae-4bbd-b7ba-2cd9d051f7ef"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hex nut down along the purple rod to fix it at the target position."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block onto the wooden base with purple rods."}, {"label": "goal", "start_step": 796, "end_step": 909, "id": "cbb6138f-3b26-443d-a3c8-f7ded3dddf3e"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 937, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 910, "end_step": 1062, "id": "76dd419f-1574-4caf-bff0-aa7c3545c9bb"}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the front left of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 1063, "end_step": 1188, "id": "c3595e40-09b4-45bf-952e-6aef0957dc77"}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "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 downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1132, "end_step": 1214, "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 adjusts its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1189, "end_step": 1341, "id": "d7a8f5d7-2400-4b0a-8ce4-4b0a13fd9574"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00021", "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 ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1342, "end_step": 1470, "id": "8218bc88-3a1a-4ea1-af1e-a51f12a2a193"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1491, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 1471, "end_step": 1617, "id": "ba5d023e-079b-493e-867d-803ce0202cdb"}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00026", "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 cubic block onto the peg on the wooden base to complete the placement."}, {"label": "goal", "start_step": 1618, "end_step": 1719, "id": "c2286bd4-a7e3-4260-b739-eb5031c20120"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1720, "end_step": 1869, "id": "9146c00b-1323-4fb2-9f5a-609129cb2363"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with assembled blocks."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00030", "text": "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 object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the green block of the wooden base."}, {"label": "goal", "start_step": 1870, "end_step": 1983, "id": "4724a7aa-3954-4779-8246-4f1e8d8b9c18"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1984, "end_step": 2184, "id": "e30b2e9a-168b-4899-a965-f62cf7908d6d"}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "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 cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2174, "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 cylinder with the purple rod by lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers separate from the cylinder surface."}, {"label": "goal", "start_step": 2185, "end_step": 2280, "id": "d448935c-0cc9-442e-b732-3e8782841b3d"}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a grip."}, {"label": "goal", "start_step": 2281, "end_step": 2508, "id": "8b17cad9-2921-4eae-b82e-5f65a0c155cf"}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table and transports it to the upper side of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod and inserts the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder down onto the wooden tray until it is stably supported by the tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "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, with fingers opening to separate from the cylinder completely."}, {"label": "goal", "start_step": 2509, "end_step": 2625, "id": "b4d257e1-3b44-42b4-a486-c557418655e0"}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "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 white cylindrical block at the bottom right of the wooden base."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right part of the table."}, {"label": "goal", "start_step": 2626, "end_step": 2763, "id": "3ff57df2-c3b3-4d6f-816a-2d4954f0d818"}, {"label": "subtasks", "start_step": 2648, "end_step": 2661, "id": "reasoning-language-00048", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00049", "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 towards the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2744, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, opening fingers to separate from the block."}, {"label": "home", "start_step": 2809, "end_step": 2837, "id": "DEi8Myh8XFs59vao_jT66"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost purple rod on the wooden base, not touching the rod yet."}, {"label": "subtasks", "start_step": 98, "end_step": 247, "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 touches the leftmost purple rod on the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "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 off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 479, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the green block with the purple peg and presses it down along the peg to secure the position."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hex nut down along the purple rod to fix it at the target position."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block onto the wooden base with purple rods."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 937, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the front left of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "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 downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1132, "end_step": 1214, "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 adjusts its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00021", "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 ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1491, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00026", "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 cubic block onto the peg on the wooden base to complete the placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with assembled blocks."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00030", "text": "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 object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "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 cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2174, "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 cylinder with the purple rod by lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers separate from the cylinder surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table and transports it to the upper side of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod and inserts the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder down onto the wooden tray until it is stably supported by the tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "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, with fingers opening to separate from the cylinder completely."}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "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 white cylindrical block at the bottom right of the wooden base."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2661, "id": "reasoning-language-00048", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00049", "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 towards the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2744, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, opening fingers to separate from the block."}], "episode_index": 12}
+{"source_uid": "66acfad6dc4eebfd", "num_frames": 2468, "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 from pointing upward to pointing forward, staying at the left side of the workspace without contacting any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "ffe190c8-df39-4912-9117-18e5de7ae97e"}, {"label": "valid", "start_step": 0, "end_step": 2439, "id": "ICQrUkwB3ywtBsoriFUJv"}, {"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 workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, closes fingers around the block and adjusts finger positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table next to the wooden pegboard."}, {"label": "goal", "start_step": 205, "end_step": 384, "id": "9349a7a7-f2ad-4a62-be7e-9b491f98fe9a"}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves the block to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes fine adjustments to finger positions and wrist angle to stabilize the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 385, "end_step": 483, "id": "73626061-fb77-41e0-accf-aa0b2e94aadd"}, {"label": "subtasks", "start_step": 420, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand fingers make contact with the white hexagonal nut, closing and adjusting contact points to establish grip."}, {"label": "goal", "start_step": 484, "end_step": 624, "id": "39676c27-8d5b-4b59-99f7-b7ce6d68995f"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block fully off the table surface and transports it upward toward the wooden assembly board with purple pegs."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg on the wooden base, lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple peg, separating from contact with the block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand presses the white hexagonal block on the light purple peg vertically downward, pushing the block to seat against the green block below on the wooden pegboard."}, {"label": "goal", "start_step": 625, "end_step": 741, "id": "9b80fddb-d9b7-42da-b56d-4f045aedf1ee"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden pegboard, approaching the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table."}, {"label": "goal", "start_step": 742, "end_step": 906, "id": "139a95e2-28fd-440e-89f5-03fcbc722dfe"}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface, then transports the nut upward toward the purple vertical rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with a target purple vertical rod, making slight finger and wrist adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the stacked hexagonal blocks on the wooden base toward the white hexagonal nut on the table adjacent to the base, with fingers slightly extended as it approaches the target."}, {"label": "goal", "start_step": 907, "end_step": 1020, "id": "0abfa219-9feb-4003-9b21-19d228f608ba"}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand curls its fingers around the adjacent white hexagonal nut on the table, making continuous small adjustments to finger positions and wrist angle to establish a secure grip on the nut, which remains on the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1167, "id": "682588be-85db-47c4-bd3f-88939e4678b1"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating it from the table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, moves it downward to fit the block onto the purple post on the wooden base, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 1168, "end_step": 1263, "id": "1b175bc9-6535-43cd-a728-ca04520501c4"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward across the dark table surface toward the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block, adjusts finger contact points and closes fingers to secure the block."}, {"label": "goal", "start_step": 1264, "end_step": 1383, "id": "68fb72cc-e307-4246-a14f-76770807c044"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple rod and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the blocks on the wooden base, separating from the stacked blocks."}, {"label": "goal", "start_step": 1384, "end_step": 1467, "id": "38446754-ac3c-45c7-8549-4036246d2a71"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1468, "end_step": 1602, "id": "da77bb81-773f-47d7-a9f4-08909a02c29d"}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block to the position above the purple vertical rod on the wooden block base, aligns the block's central hole with the rod, and fits the block onto the rod to form an assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand index finger presses down on the top surface of the upper white cylindrical block on the stacked assembly, applying downward vertical pressure to the block."}, {"label": "goal", "start_step": 1603, "end_step": 1695, "id": "f610b981-b8bd-4116-abdb-4441c364778b"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves away from the stacked blocks toward the small white hexagonal block on the table adjacent to the wooden base, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grasp, with small fine-tuning movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the small white hexagonal block on the table near the wooden rack without moving."}, {"label": "goal", "start_step": 1696, "end_step": 1860, "id": "a924ff96-4795-4452-8133-dda2a960f6cf"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand opens fingers to release the small white hexagonal block, moving upward with empty hand to approach the target white-and-green cylindrical block on the upper wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white-and-green cylindrical block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_place: Right hand carries the grasped white-and-green cylindrical block downward to the empty slot on the lower part of the wooden rack, placing the block until it is supported by the rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the placed white-and-green cylindrical block, moving slightly away from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "goal", "start_step": 1861, "end_step": 1929, "id": "e32f4fbf-0fc6-469f-9578-b1be1e159e7e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to hold the nut securely while the nut remains on the table surface."}, {"label": "goal", "start_step": 1930, "end_step": 2082, "id": "26b83cc0-6aa4-4143-8c59-e7c22792b8fb"}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand releases the small white-purple cylinder seated on the white base of the wooden rack, fingers opening and lifting away from the object's surface."}, {"label": "goal", "start_step": 2083, "end_step": 2184, "id": "07c0a461-fcd3-40dd-b6fc-5e053a0f6a8d"}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward toward the green cube resting on the black table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green cube, fingers closing incrementally and adjusting contact points to form a grip on the object."}, {"label": "goal", "start_step": 2185, "end_step": 2391, "id": "85d41b37-dcdf-4634-b2a8-0a4400bb8792"}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hollow block completely off the table surface and moves it toward the wooden block holding rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green hollow block with the target white cylindrical post on the rack and fits the block onto the post to form the assembled state."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the assembled green hollow block, separating the hand from the block surface."}, {"label": "home", "start_step": 2440, "end_step": 2467, "id": "SgvPtjmqxEdZiRPAsL9ce"}], "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 from pointing upward to pointing forward, staying at the left side of the workspace without contacting any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"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 workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, closes fingers around the block and adjusts finger positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table next to the wooden pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves the block to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes fine adjustments to finger positions and wrist angle to stabilize the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand fingers make contact with the white hexagonal nut, closing and adjusting contact points to establish grip."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block fully off the table surface and transports it upward toward the wooden assembly board with purple pegs."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg on the wooden base, lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple peg, separating from contact with the block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand presses the white hexagonal block on the light purple peg vertically downward, pushing the block to seat against the green block below on the wooden pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden pegboard, approaching the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface, then transports the nut upward toward the purple vertical rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with a target purple vertical rod, making slight finger and wrist adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the stacked hexagonal blocks on the wooden base toward the white hexagonal nut on the table adjacent to the base, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand curls its fingers around the adjacent white hexagonal nut on the table, making continuous small adjustments to finger positions and wrist angle to establish a secure grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating it from the table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, moves it downward to fit the block onto the purple post on the wooden base, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward across the dark table surface toward the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block, adjusts finger contact points and closes fingers to secure the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple rod and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the blocks on the wooden base, separating from the stacked blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block to the position above the purple vertical rod on the wooden block base, aligns the block's central hole with the rod, and fits the block onto the rod to form an assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand index finger presses down on the top surface of the upper white cylindrical block on the stacked assembly, applying downward vertical pressure to the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves away from the stacked blocks toward the small white hexagonal block on the table adjacent to the wooden base, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grasp, with small fine-tuning movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the small white hexagonal block on the table near the wooden rack without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand opens fingers to release the small white hexagonal block, moving upward with empty hand to approach the target white-and-green cylindrical block on the upper wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white-and-green cylindrical block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_place: Right hand carries the grasped white-and-green cylindrical block downward to the empty slot on the lower part of the wooden rack, placing the block until it is supported by the rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the placed white-and-green cylindrical block, moving slightly away from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to hold the nut securely while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand releases the small white-purple cylinder seated on the white base of the wooden rack, fingers opening and lifting away from the object's surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward toward the green cube resting on the black table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green cube, fingers closing incrementally and adjusting contact points to form a grip on the object."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hollow block completely off the table surface and moves it toward the wooden block holding rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green hollow block with the target white cylindrical post on the rack and fits the block onto the post to form the assembled state."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the assembled green hollow block, separating the hand from the block surface."}], "episode_index": 13}
+{"source_uid": "e12a2c0a8513849d", "num_frames": 2769, "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": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block at the left front of the wooden rack, moving leftward and slightly downward with wrist rotating slightly."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "2707931b-aa20-4d38-8055-edc9a9f8f633"}, {"label": "valid", "start_step": 0, "end_step": 2739, "id": "K8r8x3RbPHmEy_dIi-StT"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 199, "end_step": 459, "id": "691a0887-d03c-44f9-9e0f-80f14e13721d"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the leftmost purple peg to the bottom position."}, {"label": "subtasks", "start_step": 338, "end_step": 449, "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 of the wooden rack without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 460, "end_step": 558, "id": "79579904-60a9-4cdd-bd1a-7dab4b22007b"}, {"label": "subtasks", "start_step": 480, "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 down toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal part from the black table surface."}, {"label": "goal", "start_step": 559, "end_step": 702, "id": "01d3a8b1-3c23-4f30-956a-b583f2b66e74"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal part towards the leftmost purple peg on the central green base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "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 hollow hexagonal part onto the leftmost purple peg by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "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 hollow hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring part onto the purple peg of the block set and releases the part."}, {"label": "goal", "start_step": 703, "end_step": 813, "id": "f697061e-06a5-4cdf-895d-38b2cd81ddd2"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 toward the white hexagonal part on the left side of the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 814, "end_step": 1044, "id": "787f8935-bf78-4507-a525-42dd7cf41c19"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the peg rack."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg rack, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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 leftmost peg of the peg rack without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the middle peg of the upper block set, with fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 1045, "end_step": 1152, "id": "2747cd59-dfa6-4267-a47d-796016038f80"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the purple peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes its fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "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 in the air above the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal part on the black table, adjusting its grip with fingers while the part stays supported by the table surface."}, {"label": "goal", "start_step": 1153, "end_step": 1386, "id": "ff04f30f-0d3e-431a-9c73-0bfbf65861e9"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the table and transports it toward the middle purple vertical peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00030", "text": "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 onto the middle purple vertical peg by aligning the part's hole with the peg and lowering the part down."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part fitted on the middle purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the middle purple vertical peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the purple peg of the stacking set and releases the ring."}, {"label": "goal", "start_step": 1387, "end_step": 1485, "id": "41666918-9cd2-4941-b9c1-c91e82af4bba"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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": 1486, "end_step": 1650, "id": "69571401-279f-4f26-a95c-eaaf23582ef6"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the corresponding peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden board without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block fitted on the purple rod of the wooden building set."}, {"label": "goal", "start_step": 1651, "end_step": 1761, "id": "06b585a5-3759-429a-bf5b-d8b752c5a326"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "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 hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1762, "end_step": 1962, "id": "22538212-e852-4199-a73a-9247701fb7ca"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "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 hexagonal block off the table and transports it toward the wooden peg board in the middle of the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "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 mates the white hexagonal block onto the target peg on the wooden board, aligning the block's hole with the peg and pressing down to fit."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "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 wooden peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers gradually opening to separate from the piece."}, {"label": "goal", "start_step": 1963, "end_step": 2043, "id": "1ee7c040-f6e7-495b-b813-df08d531b41e"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left 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 with a hole on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2044, "end_step": 2184, "id": "9658f784-cfd2-447b-9c05-a62a927a3250"}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left 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 part off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "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 white hollow cylindrical part with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 2185, "end_step": 2256, "id": "105dd1f0-2085-4e5c-803a-3daef5f9ab27"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "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 the white hexagonal object on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 2257, "end_step": 2406, "id": "c53c0be3-fad2-40e9-ba5c-e62697bde45f"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "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 mates the white cylindrical object with the purple rod, lowering the object along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "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 cylindrical object by opening its fingers to separate from the object."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the wooden base without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white-green cylinder on the wooden tray and reaches downward toward the green cubic block on the table."}, {"label": "goal", "start_step": 2407, "end_step": 2484, "id": "ec379177-241e-4912-b2ae-dda3843de110"}, {"label": "subtasks", "start_step": 2445, "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: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2485, "end_step": 2691, "id": "0dd63119-c35e-4f4b-a00a-973d3415f23f"}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward toward the white cylinder group on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2677, "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 mates the green block onto the rightmost white cylinder by aligning and pressing it downward to complete assembly."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "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 rightmost white cylinder without moving."}, {"label": "home", "start_step": 2740, "end_step": 2768, "id": "dBeANjHUSwgYSWgpGe3Ms"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block at the left front of the wooden rack, moving leftward and slightly downward with wrist rotating slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the leftmost purple peg to the bottom position."}, {"label": "subtasks", "start_step": 338, "end_step": 449, "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 of the wooden rack without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 480, "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 down toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal part from the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal part towards the leftmost purple peg on the central green base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "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 hollow hexagonal part onto the leftmost purple peg by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "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 hollow hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring part onto the purple peg of the block set and releases the part."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 toward the white hexagonal part on the left side of the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the peg rack."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg rack, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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 leftmost peg of the peg rack without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the middle peg of the upper block set, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the purple peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes its fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "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 in the air above the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal part on the black table, adjusting its grip with fingers while the part stays supported by the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the table and transports it toward the middle purple vertical peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00030", "text": "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 onto the middle purple vertical peg by aligning the part's hole with the peg and lowering the part down."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part fitted on the middle purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the middle purple vertical peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the purple peg of the stacking set and releases the ring."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the corresponding peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden board without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block fitted on the purple rod of the wooden building set."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "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 hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "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 hexagonal block off the table and transports it toward the wooden peg board in the middle of the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "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 mates the white hexagonal block onto the target peg on the wooden board, aligning the block's hole with the peg and pressing down to fit."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "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 wooden peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers gradually opening to separate from the piece."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left 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 with a hole on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left 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 part off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "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 white hollow cylindrical part with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "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 the white hexagonal object on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "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 mates the white cylindrical object with the purple rod, lowering the object along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "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 cylindrical object by opening its fingers to separate from the object."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the wooden base without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white-green cylinder on the wooden tray and reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2445, "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: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward toward the white cylinder group on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2677, "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 mates the green block onto the rightmost white cylinder by aligning and pressing it downward to complete assembly."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "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 rightmost white cylinder without moving."}], "episode_index": 14}
+{"source_uid": "3d5af9051c3e7ced", "num_frames": 3444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the white sleeve mounted on the rightmost purple rod of the central wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 231, "id": "e098d070-ea0e-4620-8b88-0325fcc6f88b"}, {"label": "valid", "start_step": 0, "end_step": 3414, "id": "ra_EaWxzDhdx_eSCHQeaA"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white sleeve on the rightmost purple rod, adjusting grip to stabilize the sleeve."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white sleeve upwards and outwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the removed white sleeve downwards towards the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white sleeve onto the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the green block on the table in front of the wooden rack and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target purple peg on the wooden base."}, {"label": "goal", "start_step": 232, "end_step": 387, "id": "f7b2e25f-1010-41d9-8c08-f08e98042c3e"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "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 target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 388, "end_step": 483, "id": "8b1d3760-3fb7-4182-b43d-41d4621906d2"}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00011", "text": "Left 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 tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 484, "end_step": 1101, "id": "bf6fe19f-1af4-4c5c-a45c-deea37e9e67d"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod, then releases the block which falls onto the table."}, {"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 table without moving. | Right hand: reach: Right hand reaches towards the lower white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 862, "end_step": 1094, "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, adjusting the position to fit properly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1102, "end_step": 1233, "id": "f0be5529-eb6c-4f6e-a00d-7d3d0a2ff6b7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "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 black tabletop."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1234, "end_step": 1404, "id": "e2036709-ca2e-4cd8-a42e-a15e6b98c3d2"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 from the tabletop and moves it towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple pillar on the wooden base and inserts it down onto the pillar."}, {"label": "goal", "start_step": 1405, "end_step": 1524, "id": "e89e28fa-f2f5-4fb7-8c1d-037d5b5dff26"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop near the wooden base."}, {"label": "goal", "start_step": 1525, "end_step": 1995, "id": "9a830e40-a1a3-4065-bb1e-64923cc536c4"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 2024, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "goal", "start_step": 1996, "end_step": 2073, "id": "69759a1c-fb7c-4406-afb9-cca8f277e718"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2099, "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 square block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2074, "end_step": 2223, "id": "adccf7a2-dae3-42d3-87a6-5f26694efb2d"}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00034", "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 along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "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 hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "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 ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2224, "end_step": 2313, "id": "cbfefe40-8075-4168-8dcd-66dda46a85cb"}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "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 with fingers closing."}, {"label": "goal", "start_step": 2314, "end_step": 2457, "id": "ed540429-6c71-4c9c-944b-f363e12dd433"}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "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 white hollow cylinder with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, with fingers gradually opening."}, {"label": "goal", "start_step": 2458, "end_step": 2556, "id": "29de7dd7-2726-4545-af8a-a4bd0037c35a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "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 cylindrical block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2579, "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 grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 2557, "end_step": 2907, "id": "5951182a-4bc0-4f02-8ffb-8bb390e96681"}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "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 hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2894, "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 hexagonal block with the purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "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 white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2908, "end_step": 2991, "id": "e75839d7-2d3a-4f72-a1fc-f716671e22c2"}, {"label": "subtasks", "start_step": 2925, "end_step": 2954, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2992, "end_step": 3138, "id": "3715b9d3-b746-4652-b634-85c547544eee"}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3141, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "goal", "start_step": 3139, "end_step": 3234, "id": "71d5ae77-55c2-4993-868e-4dbf5e626430"}, {"label": "subtasks", "start_step": 3142, "end_step": 3149, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the lower right of the table."}, {"label": "subtasks", "start_step": 3195, "end_step": 3254, "id": "reasoning-language-00055", "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 cubic block on the table surface."}, {"label": "goal", "start_step": 3235, "end_step": 3360, "id": "85a7c597-0c1d-4357-9605-5f01f0d06473"}, {"label": "subtasks", "start_step": 3255, "end_step": 3329, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00057", "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 ring onto the top of the white bottle with purple top, adjusting its position to fit."}, {"label": "subtasks", "start_step": 3368, "end_step": 3374, "id": "reasoning-language-00058", "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 after it is properly placed on the bottle."}, {"label": "home", "start_step": 3415, "end_step": 3443, "id": "ixBObiZ2UghlLz1UzPJbp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the white sleeve mounted on the rightmost purple rod of the central wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white sleeve on the rightmost purple rod, adjusting grip to stabilize the sleeve."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white sleeve upwards and outwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the removed white sleeve downwards towards the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white sleeve onto the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the green block on the table in front of the wooden rack and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "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 target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00011", "text": "Left 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 tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod, then releases the block which falls onto the table."}, {"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 table without moving. | Right hand: reach: Right hand reaches towards the lower white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 862, "end_step": 1094, "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, adjusting the position to fit properly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "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 black tabletop."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 from the tabletop and moves it towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple pillar on the wooden base and inserts it down onto the pillar."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 2024, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2099, "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 square block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00034", "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 along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "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 hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "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 with fingers closing."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "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 white hollow cylinder with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, with fingers gradually opening."}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "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 cylindrical block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2579, "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 grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "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 hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2894, "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 hexagonal block with the purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "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 white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2925, "end_step": 2954, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3141, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 3142, "end_step": 3149, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the lower right of the table."}, {"label": "subtasks", "start_step": 3195, "end_step": 3254, "id": "reasoning-language-00055", "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 cubic block on the table surface."}, {"label": "subtasks", "start_step": 3255, "end_step": 3329, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00057", "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 ring onto the top of the white bottle with purple top, adjusting its position to fit."}, {"label": "subtasks", "start_step": 3368, "end_step": 3374, "id": "reasoning-language-00058", "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 after it is properly placed on the bottle."}], "episode_index": 15}
+{"source_uid": "b6247524866b7c58", "num_frames": 2653, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves forward and left toward the green hexagonal block positioned in front left of the wooden peg stand, with fingers slightly extended as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "514b8f03-ce22-4c23-b420-afa1530c123a"}, {"label": "valid", "start_step": 0, "end_step": 2623, "id": "ZKLTDffBPmCLgedhl17_V"}, {"label": "subtasks", "start_step": 128, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block with minor wrist and finger adjustments visible as it forms a grasp."}, {"label": "goal", "start_step": 178, "end_step": 483, "id": "0d254f7f-1bb9-4ecc-a330-d82706613f0f"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally and upward to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to fit onto the peg, and makes fine positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden assembly rack area toward the white hexagonal nut on the table, remaining empty with fingers open."}, {"label": "goal", "start_step": 484, "end_step": 600, "id": "53889eff-619d-47de-a438-215e880719f2"}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closes fingers and makes slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table surface, and lifts it upward until the block is fully raised off the table."}, {"label": "goal", "start_step": 601, "end_step": 795, "id": "1a9c76c6-8cce-4d37-a50c-c4c192aa463c"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and rightward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, and lowers the block to fit it securely onto the post."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block stably on the purple post without visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white hexagonal sleeve onto the purple upright rod on the wooden base, opening fingers to release contact with the sleeve."}, {"label": "goal", "start_step": 796, "end_step": 891, "id": "82a39550-0984-41d8-b6d6-330c50878268"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger and wrist adjustments to establish a secure grasp."}, {"label": "goal", "start_step": 892, "end_step": 1083, "id": "f30bef49-f1c0-4afb-9b07-1fa5b18ca931"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves the block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple rod on the wooden rack and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod fixed on the wooden base and releases the block by opening its fingers."}, {"label": "goal", "start_step": 1084, "end_step": 1200, "id": "b037cc79-a929-4e76-8bc7-a4d989b46d1b"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers and wrist around the white hexagonal block on the table to form a stable grasp, with continuous slight movements."}, {"label": "goal", "start_step": 1201, "end_step": 1341, "id": "cdaeeb8f-7d74-4002-8c35-399f8a819e9a"}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to nest it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand, empty, moves downward and forward from the position above the wooden pegboard toward the front green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1342, "end_step": 1416, "id": "2ab2e7d8-7ef3-4057-a56f-9456269feef5"}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, fingers close around the block to adjust and establish the grasp."}, {"label": "goal", "start_step": 1417, "end_step": 1551, "id": "b79b1cd6-a907-4024-a492-4e59a9661353"}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green block to align its central hole with the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand lowers the aligned green block down along the purple rod until it rests steadily on the existing green block on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand stays above the wooden block base, fingers gradually open and move away from the stacked blocks on the base, losing contact with all blocks by the end of the segment."}, {"label": "goal", "start_step": 1552, "end_step": 1656, "id": "16de9a06-bbfd-4104-a105-065bc7c87756"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, with no contact to any object during the movement."}, {"label": "subtasks", "start_step": 1598, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and makes slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1657, "end_step": 1821, "id": "3c783605-0d13-4f69-abdf-e2ccdff0f1c8"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves from the area above the wooden block base toward the white hexagonal nut on the adjacent table surface, approaching the target with an empty hand."}, {"label": "goal", "start_step": 1822, "end_step": 1911, "id": "77be8367-4342-40d2-bb44-e1807a3c7ae8"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface with no detectable movement of the hand, fingers or the held object."}, {"label": "goal", "start_step": 1912, "end_step": 2073, "id": "6ac4d6c6-18dd-45dd-80fb-64f9b4c70509"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the white hexagonal part upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal part over to the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and seats it down onto the stacked parts below."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal part on the purple rod."}, {"label": "goal", "start_step": 2074, "end_step": 2157, "id": "b048b805-3c8a-40b2-8fe9-9f37c49efa3e"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the dark table surface, remaining empty and not yet touching the nut."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the dark table surface and adjusts finger positions to close around it."}, {"label": "goal", "start_step": 2158, "end_step": 2301, "id": "fd1c430c-d899-42ad-9e5d-fff8eac6caf4"}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the gripped white cylindrical object off the table surface, then transports it upward and leftward to the position directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand slightly adjusts the position of the white cylindrical object to align its central hole with the top of the purple rod, fitting the rod tip into the hole."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand lowers the white cylindrical object down along the purple rod until it rests stably on the wooden tray base, then opens fingers to release contact with the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area adjacent to the stacked white bottles toward the green square block resting on the dark table surface."}, {"label": "goal", "start_step": 2302, "end_step": 2394, "id": "0b32c1e2-88c3-41ca-a2d1-8e2ce9a60f5f"}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing its fingers and making small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2395, "end_step": 2580, "id": "9e0a4144-180a-44dd-b5a0-42ec7a4eb6c1"}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moving it upward and leftward to the position above the empty slot on the white wooden block tray."}, {"label": "subtasks", "start_step": 2468, "end_step": 2549, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the green hexagonal block with the empty slot on the white block tray, lowering it to fit into the slot."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand sets the green hexagonal block fully into the slot until the block is stably supported by the tray."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating from the block as fingers spread outward."}, {"label": "home", "start_step": 2624, "end_step": 2652, "id": "tm-UMcc7MMFYc-cq_c3JU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves forward and left toward the green hexagonal block positioned in front left of the wooden peg stand, with fingers slightly extended as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block with minor wrist and finger adjustments visible as it forms a grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally and upward to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to fit onto the peg, and makes fine positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden assembly rack area toward the white hexagonal nut on the table, remaining empty with fingers open."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closes fingers and makes slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table surface, and lifts it upward until the block is fully raised off the table."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and rightward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, and lowers the block to fit it securely onto the post."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block stably on the purple post without visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white hexagonal sleeve onto the purple upright rod on the wooden base, opening fingers to release contact with the sleeve."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger and wrist adjustments to establish a secure grasp."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves the block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple rod on the wooden rack and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod fixed on the wooden base and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers and wrist around the white hexagonal block on the table to form a stable grasp, with continuous slight movements."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to nest it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand, empty, moves downward and forward from the position above the wooden pegboard toward the front green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, fingers close around the block to adjust and establish the grasp."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green block to align its central hole with the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand lowers the aligned green block down along the purple rod until it rests steadily on the existing green block on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand stays above the wooden block base, fingers gradually open and move away from the stacked blocks on the base, losing contact with all blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, with no contact to any object during the movement."}, {"label": "subtasks", "start_step": 1598, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and makes slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves from the area above the wooden block base toward the white hexagonal nut on the adjacent table surface, approaching the target with an empty hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface with no detectable movement of the hand, fingers or the held object."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the white hexagonal part upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal part over to the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and seats it down onto the stacked parts below."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal part on the purple rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the dark table surface, remaining empty and not yet touching the nut."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the dark table surface and adjusts finger positions to close around it."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the gripped white cylindrical object off the table surface, then transports it upward and leftward to the position directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand slightly adjusts the position of the white cylindrical object to align its central hole with the top of the purple rod, fitting the rod tip into the hole."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand lowers the white cylindrical object down along the purple rod until it rests stably on the wooden tray base, then opens fingers to release contact with the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area adjacent to the stacked white bottles toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing its fingers and making small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moving it upward and leftward to the position above the empty slot on the white wooden block tray."}, {"label": "subtasks", "start_step": 2468, "end_step": 2549, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the green hexagonal block with the empty slot on the white block tray, lowering it to fit into the slot."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand sets the green hexagonal block fully into the slot until the block is stably supported by the tray."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating from the block as fingers spread outward."}], "episode_index": 16}
+{"source_uid": "86b39f3e93040304", "num_frames": 3100, "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_hand_pose: Left hand adjusts its wrist and finger posture slightly at the left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"label": "goal", "start_step": 0, "end_step": 222, "id": "5d4cf345-edb5-4e75-91d6-90e16ed4ef22"}, {"label": "valid", "start_step": 0, "end_step": 3070, "id": "7ptSFz3RW4ktEV0cTRrV2"}, {"label": "subtasks", "start_step": 38, "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 from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cube on the table in front of the wooden peg base, with fingers closing and adjusting to stabilize the grip."}, {"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 table without moving. | Right hand: hold: Right hand holds the green cube on the table in front of the wooden peg base without moving."}, {"label": "subtasks", "start_step": 210, "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: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 223, "end_step": 438, "id": "fb4a9711-136b-47ef-82a6-cedc4da54b7f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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 to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, pushing the block downward along the peg during the assembly process."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "goal", "start_step": 439, "end_step": 621, "id": "ff5204bb-cc57-4d05-99b3-eec9665b0dd8"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 480, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 659, "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": "goal", "start_step": 622, "end_step": 819, "id": "c096d5f8-7df5-4b60-b7eb-0396ff1a5413"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 820, "end_step": 945, "id": "4988cfa1-8586-4659-9fb0-f358edd70957"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 reaches toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 870, "end_step": 981, "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": 946, "end_step": 1146, "id": "c2cc778a-e48c-4398-bd5d-d46c89459828"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden assembly rack and inserts it downward."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "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 hexagonal part on the purple peg of the assembly rack without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 piece on the purple rod of the pegboard, with fingers gradually opening to separate from the piece."}, {"label": "goal", "start_step": 1147, "end_step": 1299, "id": "9af69675-dfa7-4bbb-972c-d56f3641fb1a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table in front of the pegboard."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 black table near the wooden peg board, adjusting its grip with fingers."}, {"label": "goal", "start_step": 1300, "end_step": 1485, "id": "59446036-2bab-4806-b2f8-109407999602"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 off the table and transports it upward to above the middle purple peg of the peg board."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "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 part onto the middle purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple peg with fingers opening."}, {"label": "goal", "start_step": 1486, "end_step": 1587, "id": "301e18b5-fed0-4ed9-a70c-47456943fad9"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, not yet making contact with the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1588, "end_step": 1755, "id": "0b52bf40-bd79-4b4f-9cf1-e4c5af8876e0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the white peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube fitted on the white peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1756, "end_step": 1881, "id": "a0c18ea2-ec73-43d6-bd38-db793984f255"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, not yet touching it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "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 grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1882, "end_step": 2049, "id": "d9ae0f16-557b-4a66-b765-cef46ca2134f"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it to the position above the wooden peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the corresponding peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the peg to fix it firmly in place."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the block set, with fingers opening and separating from the rod."}, {"label": "goal", "start_step": 2050, "end_step": 2175, "id": "ad231a3b-8d25-45f3-9c29-278e3e45a530"}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder on the table next to the block set."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "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 hexagonal cylinder on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the table next to the wooden tray, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2176, "end_step": 2373, "id": "d0dca040-d9e2-4024-81a3-570c8d8497ca"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden tray and inserts it downward onto the rod until the object rests on the wooden tray."}, {"label": "subtasks", "start_step": 2370, "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: press_release: Right hand presses the purple rod into the top of the rightmost white block on the wooden rack and releases it."}, {"label": "goal", "start_step": 2374, "end_step": 2466, "id": "700b9d0c-40b9-495f-b00e-64d9f9010933"}, {"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: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "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 hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 2467, "end_step": 2724, "id": "74ac5115-6894-4ea6-8f0e-6cb47e880f1f"}, {"label": "subtasks", "start_step": 2490, "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: lift_transport: Right hand lifts the white cylindrical block off the table and transports it leftward to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2684, "id": "reasoning-language-00057", "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 moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00058", "text": "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 fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost position of the wooden tray, with fingers opening gradually."}, {"label": "goal", "start_step": 2725, "end_step": 2853, "id": "fb44f8a8-45f6-49b0-820e-b459a97b7afd"}, {"label": "subtasks", "start_step": 2745, "end_step": 2797, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2798, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2812, "end_step": 2849, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2850, "end_step": 2879, "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 block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2854, "end_step": 3030, "id": "82bd493b-0ac6-4359-9515-71ae0bbb52b4"}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "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 off the table and transports it toward the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2940, "end_step": 3029, "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 aligns the green block with the top of the rightmost bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 3030, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers, separating from the block."}, {"label": "home", "start_step": 3071, "end_step": 3099, "id": "XKO3nkS3-ESnpwF06oTKN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its wrist and finger posture slightly at the left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"label": "subtasks", "start_step": 38, "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 from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cube on the table in front of the wooden peg base, with fingers closing and adjusting to stabilize the grip."}, {"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 table without moving. | Right hand: hold: Right hand holds the green cube on the table in front of the wooden peg base without moving."}, {"label": "subtasks", "start_step": 210, "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: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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 to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, pushing the block downward along the peg during the assembly process."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 480, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 659, "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": 660, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 reaches toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 870, "end_step": 981, "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": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden assembly rack and inserts it downward."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "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 hexagonal part on the purple peg of the assembly rack without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 piece on the purple rod of the pegboard, with fingers gradually opening to separate from the piece."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table in front of the pegboard."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 black table near the wooden peg board, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 off the table and transports it upward to above the middle purple peg of the peg board."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "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 part onto the middle purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple peg with fingers opening."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, not yet making contact with the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the white peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube fitted on the white peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, not yet touching it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "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 grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it to the position above the wooden peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the corresponding peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the peg to fix it firmly in place."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the block set, with fingers opening and separating from the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder on the table next to the block set."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "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 hexagonal cylinder on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the table next to the wooden tray, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden tray and inserts it downward onto the rod until the object rests on the wooden tray."}, {"label": "subtasks", "start_step": 2370, "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: press_release: Right hand presses the purple rod into the top of the rightmost white block on the wooden rack and releases it."}, {"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: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "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 hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 2490, "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: lift_transport: Right hand lifts the white cylindrical block off the table and transports it leftward to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2684, "id": "reasoning-language-00057", "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 moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00058", "text": "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 fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost position of the wooden tray, with fingers opening gradually."}, {"label": "subtasks", "start_step": 2745, "end_step": 2797, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2798, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2812, "end_step": 2849, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2850, "end_step": 2879, "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 block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "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 off the table and transports it toward the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2940, "end_step": 3029, "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 aligns the green block with the top of the rightmost bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 3030, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers, separating from the block."}], "episode_index": 17}
+{"source_uid": "ad422fbefd26fc69", "num_frames": 2732, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with no contact to any object. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "c8de5cd4-b156-46d6-9e1b-ffe0faf80dc6"}, {"label": "valid", "start_step": 0, "end_step": 2703, "id": "znGqrYqTZztfEf7rbetOq"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylinder on the wooden rack, adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "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 white cylinder on the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "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 block from the black table surface."}, {"label": "goal", "start_step": 211, "end_step": 381, "id": "6c9803de-41d5-4918-9810-d70b654b7729"}, {"label": "subtasks", "start_step": 225, "end_step": 269, "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 block above the peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "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 block down onto the peg of the wooden base to secure it."}, {"label": "goal", "start_step": 382, "end_step": 492, "id": "6563cc34-354e-439d-aad7-c74285aa86ad"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "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 closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 493, "end_step": 675, "id": "c3eaae9f-f06f-4f0f-ad2c-e3a41727d523"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 600, "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: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"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_release: Right hand fits the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 676, "end_step": 795, "id": "40602e9f-1914-4cfc-afe4-a8ef4880f3cf"}, {"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 towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 796, "end_step": 969, "id": "3af6c476-f21b-4918-84e8-e80f4474a3e1"}, {"label": "subtasks", "start_step": 825, "end_step": 877, "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 green base."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "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 onto the purple rod of the green base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "goal", "start_step": 970, "end_step": 1092, "id": "31b4df4a-71d1-483a-b8b7-9125e0d3ec5b"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "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 closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1093, "end_step": 1254, "id": "5e994974-52ae-4b5c-a838-571486755fca"}, {"label": "subtasks", "start_step": 1118, "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: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1245, "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: release: Right hand releases the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 1255, "end_step": 1356, "id": "bb53b289-f26a-4a0d-b3f8-0e54c4ed82b0"}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1357, "end_step": 1545, "id": "96c401eb-c496-40f2-9c0c-ad799bdcb30e"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00030", "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 white peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1662, "id": "1f737e36-7b44-4451-86ed-871854dc3c15"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1663, "end_step": 1842, "id": "00a35c4e-d4ac-4047-979d-67341fda5eca"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "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 cylindrical block off the table and transports it towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "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 green block placed on the white cylindrical block, fingers open gradually."}, {"label": "goal", "start_step": 1843, "end_step": 1953, "id": "9f99eaee-e313-4e59-b928-5b26d619eca0"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "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 toward the white cylinder on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black table, fingers close around the cylinder to adjust the grip."}, {"label": "goal", "start_step": 1954, "end_step": 2130, "id": "12e7aa44-9912-407f-b44f-ba6ead3a8206"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block down onto the purple rod on the wooden tray until it is supported."}, {"label": "subtasks", "start_step": 2130, "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: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "goal", "start_step": 2131, "end_step": 2220, "id": "4bcba8a8-d1ac-4829-af39-75d945e918cf"}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden tray, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 black table surface, not touching the block yet."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close to adjust and establish stable grasp on the block."}, {"label": "goal", "start_step": 2221, "end_step": 2376, "id": "a85f4ffe-e226-4bda-bd1e-e76c561b6f6e"}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "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 mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip."}, {"label": "goal", "start_step": 2377, "end_step": 2484, "id": "81ad93a8-ce37-4b00-a2a0-d4f11609b844"}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden base, adjusting its position slightly."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "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 wooden base toward the green block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2504, "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 around the green block on the table to form a stable grasp."}, {"label": "goal", "start_step": 2485, "end_step": 2652, "id": "5bf643c4-9e65-48ba-afb1-883ffc0b1465"}, {"label": "subtasks", "start_step": 2505, "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: lift_transport: Right hand lifts the green block from the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "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 top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block placed on the pillar."}, {"label": "home", "start_step": 2704, "end_step": 2731, "id": "TLn7-f84JyxeITfSvbetk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with no contact to any object. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylinder on the wooden rack, adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "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 white cylinder on the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "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 block from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "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 block above the peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "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 block down onto the peg of the wooden base to secure it."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "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 closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 600, "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: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"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_release: Right hand fits the white ring onto the purple peg on the wooden base and releases the ring."}, {"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 towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "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 green base."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "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 onto the purple rod of the green base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "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 closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1118, "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: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1245, "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: release: Right hand releases the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00030", "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 white peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "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 cylindrical block off the table and transports it towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "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 green block placed on the white cylindrical block, fingers open gradually."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "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 toward the white cylinder on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black table, fingers close around the cylinder to adjust the grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block down onto the purple rod on the wooden tray until it is supported."}, {"label": "subtasks", "start_step": 2130, "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: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden tray, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 black table surface, not touching the block yet."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close to adjust and establish stable grasp on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "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 mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden base, adjusting its position slightly."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "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 wooden base toward the green block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2504, "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 around the green block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2505, "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: lift_transport: Right hand lifts the green block from the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "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 top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block placed on the pillar."}], "episode_index": 18}
+{"source_uid": "474b5253869584f4", "num_frames": 2544, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_ready_position: Left hand moves empty from the initial rest position to the front-left ready position. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "20dd54a7-58ed-478b-9aa9-17251d832d91"}, {"label": "valid", "start_step": 0, "end_step": 2515, "id": "zhGl7PDspoOcLIujn909W"}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: idle: Right hand remains empty at the front-right ready position without any observable movement."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal block placed in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 128, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block while the block stays on the table surface."}, {"label": "goal", "start_step": 205, "end_step": 333, "id": "2c799cfa-8717-4dd2-ab00-d415f7f096e1"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the wooden base surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport_place: Right hand moves the lifted green hexagonal block into alignment with the target purple peg and lowers the block to seat it securely on the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated green hexagonal block on the target purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple vertical peg on the wooden peg base and fits the block onto the peg."}, {"label": "goal", "start_step": 334, "end_step": 447, "id": "22a0cb09-9e5a-4ae4-b9b4-4fd6c6c8c8a7"}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish secure contact with the block."}, {"label": "goal", "start_step": 448, "end_step": 624, "id": "3c8eb68d-2b9d-46f5-a269-8ab20e9ffd7e"}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg for assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg on the wooden base without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate_release: Right hand holds a white cylindrical block, aligns and mates it onto the purple peg on the wooden pegboard, opening fingers to release the fitted block."}, {"label": "goal", "start_step": 625, "end_step": 744, "id": "3b61e20b-2f7f-435f-bd65-dec3be13c329"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight grip adjustments to form a stable hold."}, {"label": "goal", "start_step": 745, "end_step": 897, "id": "8dedcc0a-db7a-4608-a7f1-909d279b25e5"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod, seating it on the green block below."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without any visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 898, "end_step": 1014, "id": "e2f201f3-3f28-49d5-8a86-85313bb4d0a1"}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and adjusting hand position to establish a stable grip on the block, which remains resting on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving, with no visible adjustments to the grip or position of the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table in front of the wooden base, making minor finger adjustments to form a stable grip while the block rests on the table."}, {"label": "goal", "start_step": 1015, "end_step": 1203, "id": "9cdf56f2-f9d0-4c54-b897-ba14e814a383"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white block placed on the purple peg of the wooden stacking base, separating from the block surface."}, {"label": "goal", "start_step": 1204, "end_step": 1302, "id": "29584ae4-beb4-4dc7-bf00-c64b420d4579"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers adjusting position to form a stable grip on the block."}, {"label": "goal", "start_step": 1303, "end_step": 1461, "id": "d8a909d9-29c9-4958-9193-4c1b59ecbca7"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden stand to secure it in position."}, {"label": "goal", "start_step": 1462, "end_step": 1572, "id": "b11107af-7aa5-4fea-8803-815ec1c5c3ff"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1573, "end_step": 1716, "id": "15204ca5-369a-40f8-aeb7-f0fd05ae359c"}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves down and right from above the wooden block base to approach the white hexagonal nut near the right side of the wooden base, with fingers kept open."}, {"label": "goal", "start_step": 1717, "end_step": 1803, "id": "6809008f-02f2-47ba-8b25-ccee42b60a2c"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no visible finger or wrist adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white-and-green cylindrical object resting on the table adjacent to the wooden block base, with the object remaining in contact with the table surface."}, {"label": "goal", "start_step": 1804, "end_step": 1941, "id": "a9dbe648-7d1b-4ac6-b710-dd31031c7392"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white-and-green cylindrical object off the dark table surface and transports the object upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the held small white-and-green cylindrical object with the purple vertical rod on the wooden base, lowering the object to fit onto the rod during assembly motion."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves from the position above the stacked block set downward toward the white hexagonal block resting on the table surface."}, {"label": "goal", "start_step": 1942, "end_step": 2019, "id": "50668b5e-714c-4291-834b-0b7e4c5334c0"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and adjusting hand position to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical block on the dark table surface without moving."}, {"label": "goal", "start_step": 2020, "end_step": 2160, "id": "16da2e4e-e18a-4894-b0a0-e3c0becb42c0"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the white cylindrical block through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white cylindrical block on the wooden stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the right side of the stacked blocks toward the small green square block on the table, staying empty as it approaches the target block."}, {"label": "goal", "start_step": 2161, "end_step": 2250, "id": "60747813-c201-402e-8fe0-3698cf7358de"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the small green square block on the table, with fingers adjusting contact positions and closing to form a grasp on the block."}, {"label": "goal", "start_step": 2251, "end_step": 2472, "id": "b033ccdb-97ee-4922-9ee6-63902045d728"}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped green cubic object vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the grasped green cubic object upward and leftward toward the white bottle with a purple cap placed on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the green cubic object with the top of the target white bottle, making small wrist and finger adjustments to fit the object securely onto the bottle."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green cubic object, separating the hand from the object now seated on the white bottle."}, {"label": "home", "start_step": 2516, "end_step": 2543, "id": "UpDbUaAxNXa678E-ZuEkE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_ready_position: Left hand moves empty from the initial rest position to the front-left ready position. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: idle: Right hand remains empty at the front-right ready position without any observable movement."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal block placed in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 128, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block while the block stays on the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the wooden base surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport_place: Right hand moves the lifted green hexagonal block into alignment with the target purple peg and lowers the block to seat it securely on the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated green hexagonal block on the target purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple vertical peg on the wooden peg base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish secure contact with the block."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg for assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg on the wooden base without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate_release: Right hand holds a white cylindrical block, aligns and mates it onto the purple peg on the wooden pegboard, opening fingers to release the fitted block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight grip adjustments to form a stable hold."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod, seating it on the green block below."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without any visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and adjusting hand position to establish a stable grip on the block, which remains resting on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving, with no visible adjustments to the grip or position of the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table in front of the wooden base, making minor finger adjustments to form a stable grip while the block rests on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white block placed on the purple peg of the wooden stacking base, separating from the block surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers adjusting position to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden stand to secure it in position."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves down and right from above the wooden block base to approach the white hexagonal nut near the right side of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no visible finger or wrist adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white-and-green cylindrical object resting on the table adjacent to the wooden block base, with the object remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white-and-green cylindrical object off the dark table surface and transports the object upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the held small white-and-green cylindrical object with the purple vertical rod on the wooden base, lowering the object to fit onto the rod during assembly motion."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves from the position above the stacked block set downward toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and adjusting hand position to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the white cylindrical block through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white cylindrical block on the wooden stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the right side of the stacked blocks toward the small green square block on the table, staying empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the small green square block on the table, with fingers adjusting contact positions and closing to form a grasp on the block."}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped green cubic object vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the grasped green cubic object upward and leftward toward the white bottle with a purple cap placed on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the green cubic object with the top of the target white bottle, making small wrist and finger adjustments to fit the object securely onto the bottle."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green cubic object, separating the hand from the object now seated on the white bottle."}], "episode_index": 19}
+{"source_uid": "7fa7720944d08449", "num_frames": 2576, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly and adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 189, "id": "df15040d-d189-47df-8132-cbb244f52a5b"}, {"label": "valid", "start_step": 0, "end_step": 2548, "id": "jjZ4l79zx1eACYCtWVcfd"}, {"label": "subtasks", "start_step": 22, "end_step": 141, "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 table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "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 block on the table, adjusting fingers to stabilize the grip while the block stays on the table surface."}, {"label": "goal", "start_step": 190, "end_step": 339, "id": "03bd7243-a45b-434f-b4b4-e31a2a6ef94b"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "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 block onto the purple peg, aligning the hole of the block with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 285, "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 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: mate: Right hand mates the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 340, "end_step": 447, "id": "2f8064c2-c22b-4562-91cb-3b7907a115db"}, {"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: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 448, "end_step": 582, "id": "e1baaebd-a7db-4182-9490-aedb59653d35"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front purple peg on the wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple peg of the wooden board by aligning the hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg and releases the block."}, {"label": "goal", "start_step": 583, "end_step": 693, "id": "f82f5c31-471a-409a-a445-0c7644fffa4c"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 694, "end_step": 879, "id": "d66d0f3e-cf1f-4320-b6b0-0ba92b12a8b3"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the table to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target vertical peg of the wooden rack to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 ring on the purple peg of the wooden base, with fingers gradually opening to separate from the ring."}, {"label": "goal", "start_step": 880, "end_step": 1008, "id": "61fc6b1a-b3ac-4d3c-8c32-3bf27647f1c8"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1057, "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": "goal", "start_step": 1009, "end_step": 1185, "id": "6b0b0ccf-1da0-4e60-b772-74c5247f763f"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "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 cylindrical part with the purple rod on the wooden base, lowering the part down the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical part."}, {"label": "goal", "start_step": 1186, "end_step": 1281, "id": "871844a6-eae5-4ef4-9dd0-7461b5d61b62"}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple post of the wooden pegboard."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "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 reaches downward toward the green hexagonal block on the table below the wooden pegboard."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "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 adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1282, "end_step": 1440, "id": "74e3df07-5e85-427f-a098-5146c91a18e1"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the building block assembly to approach the white hexagonal object on the dark table surface."}, {"label": "goal", "start_step": 1441, "end_step": 1563, "id": "80079626-0bc9-4d7b-a932-7d5c712ce414"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "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 hollow cylindrical part on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1564, "end_step": 1731, "id": "bf675c61-150d-439e-a170-462bc53b64df"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 part off the table and transports it to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple vertical rod and presses it down to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening and moving slightly upward away from the part."}, {"label": "goal", "start_step": 1732, "end_step": 1821, "id": "fd05797d-a775-49fb-876f-17e6c8ae48a8"}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal part on the black table to the right of the wooden base, moving down-right."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "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 upper white hexagonal part on the black table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "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 hollow hexagonal cylinder on the right side of the table without moving."}, {"label": "goal", "start_step": 1822, "end_step": 1968, "id": "c6c553af-7dbc-481f-870d-a8a974af2106"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "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 hollow hexagonal cylinder from the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00047", "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 hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple vertical rod, moving downward toward the white hexagonal part on the table with fingers open."}, {"label": "goal", "start_step": 1969, "end_step": 2043, "id": "89c18416-7df2-4be0-b652-4acdae38acf5"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left 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, with fingers closing around the part."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00050", "text": "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 table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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 cylindrical object on the right side of the table, with fingers closing around the object."}, {"label": "goal", "start_step": 2044, "end_step": 2208, "id": "0d2c2ace-9654-4703-ac9f-b4e99414ae28"}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "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 cylindrical object off the table and transports it toward the purple rod on the wooden tray at the center of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "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 mates the white cylindrical object onto the purple rod by aligning and inserting the rod into the cylinder's hole."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "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 cylindrical object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2205, "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: press: Right hand presses the purple top of the front-right white block on the wooden base."}, {"label": "goal", "start_step": 2209, "end_step": 2319, "id": "3cbc5241-cbe9-426a-bb05-3c4c27856f4a"}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2288, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green object on the right table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2320, "end_step": 2505, "id": "abcd2efa-dce5-422a-960f-a9a39df0b683"}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green object from the table and transports it toward the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2497, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green object onto the top of the target white bottle by aligning and fitting it into place."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green object, with fingers opening to separate from the object."}, {"label": "home", "start_step": 2549, "end_step": 2575, "id": "-tmj3-UPzX1OIyaCBZm7C"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly and adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 22, "end_step": 141, "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 table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "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 block on the table, adjusting fingers to stabilize the grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "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 block onto the purple peg, aligning the hole of the block with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 285, "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 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: mate: Right hand mates the white hexagonal ring onto the purple peg on the wooden base."}, {"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: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front purple peg on the wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple peg of the wooden board by aligning the hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg and releases the block."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the table to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target vertical peg of the wooden rack to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 ring on the purple peg of the wooden base, with fingers gradually opening to separate from the ring."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1057, "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": 1058, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "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 cylindrical part with the purple rod on the wooden base, lowering the part down the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical part."}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple post of the wooden pegboard."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "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 reaches downward toward the green hexagonal block on the table below the wooden pegboard."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "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 adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the building block assembly to approach the white hexagonal object on the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "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 hollow cylindrical part on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 part off the table and transports it to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple vertical rod and presses it down to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening and moving slightly upward away from the part."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal part on the black table to the right of the wooden base, moving down-right."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "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 upper white hexagonal part on the black table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "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 hollow hexagonal cylinder on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "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 hollow hexagonal cylinder from the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00047", "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 hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple vertical rod, moving downward toward the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left 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, with fingers closing around the part."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00050", "text": "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 table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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 cylindrical object on the right side of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "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 cylindrical object off the table and transports it toward the purple rod on the wooden tray at the center of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "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 mates the white cylindrical object onto the purple rod by aligning and inserting the rod into the cylinder's hole."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "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 cylindrical object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2205, "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: press: Right hand presses the purple top of the front-right white block on the wooden base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2288, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green object on the right table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green object from the table and transports it toward the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2497, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green object onto the top of the target white bottle by aligning and fitting it into place."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green object, with fingers opening to separate from the object."}], "episode_index": 20}
+{"source_uid": "aa0ba61e9a4e3b3f", "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": 134, "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 placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "342b1af6-3783-412c-aa6d-af704debf10e"}, {"label": "valid", "start_step": 0, "end_step": 2538, "id": "jIkhdttyX8MGo497m_h7r"}, {"label": "subtasks", "start_step": 135, "end_step": 239, "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 closes fingers to grasp the leftmost green block on the table, with slight hand posture adjustment."}, {"label": "goal", "start_step": 208, "end_step": 399, "id": "617c3636-a7f1-4bed-923e-8b9a78df149d"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block upward and forward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "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 aligns the green square block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00006", "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 on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 400, "end_step": 516, "id": "0486a028-b80c-4a09-b634-fb4e4eb202f0"}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00008", "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 tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 517, "end_step": 690, "id": "060f0cc1-47e5-4af5-aa7a-fac596d7a30d"}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "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 top of the target purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00011", "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 position."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 pillar on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 691, "end_step": 789, "id": "b30a3249-f2ab-49ff-ad01-f6d0b49b517f"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00013", "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 ring on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 790, "end_step": 1053, "id": "31e68b19-e131-4c83-a80d-e334235d4794"}, {"label": "subtasks", "start_step": 818, "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: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "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 top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 1049, "id": "reasoning-language-00017", "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": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1054, "end_step": 1170, "id": "75574bd4-67dd-4898-9186-f901d84ce825"}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "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 down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "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 touches the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "goal", "start_step": 1171, "end_step": 1347, "id": "b99bd3cf-950a-4091-b0f3-a4f00cca9be1"}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder up from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylinder to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white cylinder onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00024", "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 of the wooden base."}, {"label": "goal", "start_step": 1348, "end_step": 1425, "id": "c09273e6-7ed5-4c3f-bb23-4012d11485b4"}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1418, "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 grasps the green square block on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1566, "id": "4a357e93-8bd6-4408-a4c2-1ce600f768d6"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "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 green block with the purple post and inserts it onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00029", "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 placed on the purple rod on the wooden base."}, {"label": "goal", "start_step": 1567, "end_step": 1668, "id": "514c4955-a463-466b-827f-5b23a25c6583"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "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 downward towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1620, "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: grasp: Right hand contacts the white block on the black table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1669, "end_step": 1800, "id": "d125ff36-83d2-42d1-934c-038c39c464dd"}, {"label": "subtasks", "start_step": 1695, "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: lift: Right hand lifts the grasped white cylindrical ring off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylindrical ring towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "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 cylindrical ring onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00035", "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 ring down to fit it onto the green peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical ring from its grasp."}, {"label": "goal", "start_step": 1801, "end_step": 1893, "id": "09f9b2c3-4846-4838-a042-c76a10ff7b91"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylinder on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00038", "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 hollow cylinder on the black table surface."}, {"label": "goal", "start_step": 1894, "end_step": 2046, "id": "d1e2f7e7-faa7-4e34-95d0-7d766c199c5c"}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00039", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 2047, "end_step": 2124, "id": "8bfbd9e6-f2cd-49b0-b01d-e955661e8f0e"}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp."}, {"label": "goal", "start_step": 2125, "end_step": 2295, "id": "823dbc80-418b-4f1c-aa59-8e3477b38ef2"}, {"label": "subtasks", "start_step": 2138, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the black tabletop."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylindrical object towards the purple stick on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00045", "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 object with the purple stick and fits it onto the stick."}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00046", "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, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 2288, "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: retreat: Right hand moves away from the wooden base towards the right side of the tabletop."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 toward the green block on the right side of the black table."}, {"label": "goal", "start_step": 2296, "end_step": 2355, "id": "d7f015ea-3490-4ed4-a3e3-65dc383a3824"}, {"label": "subtasks", "start_step": 2325, "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 touches the green block and adjusts fingers to form stable grip."}, {"label": "goal", "start_step": 2356, "end_step": 2496, "id": "52b29200-c46c-44fe-a79b-99b1d06f3e25"}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "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 moves it toward the white block with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 2415, "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: mate_release: Right hand fits the green block onto the top of the target white block, then releases fingers to separate from the block."}, {"label": "home", "start_step": 2539, "end_step": 2566, "id": "jvPSpC3l1apndw0fyN_YX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "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 placed on the black table."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "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 closes fingers to grasp the leftmost green block on the table, with slight hand posture adjustment."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block upward and forward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "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 aligns the green square block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00006", "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 on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00008", "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 tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "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 top of the target purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00011", "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 position."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 pillar on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00013", "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 ring on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 818, "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: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "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 top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 1049, "id": "reasoning-language-00017", "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": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "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 down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "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 touches the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder up from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylinder to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white cylinder onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00024", "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 of the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1418, "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 grasps the green square block on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "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 green block with the purple post and inserts it onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00029", "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 placed on the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "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 downward towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1620, "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: grasp: Right hand contacts the white block on the black table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1695, "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: lift: Right hand lifts the grasped white cylindrical ring off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylindrical ring towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "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 cylindrical ring onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00035", "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 ring down to fit it onto the green peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical ring from its grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylinder on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00038", "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 hollow cylinder on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00039", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2138, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the black tabletop."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylindrical object towards the purple stick on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00045", "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 object with the purple stick and fits it onto the stick."}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00046", "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, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 2288, "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: retreat: Right hand moves away from the wooden base towards the right side of the tabletop."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 toward the green block on the right side of the black table."}, {"label": "subtasks", "start_step": 2325, "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 touches the green block and adjusts fingers to form stable grip."}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "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 moves it toward the white block with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 2415, "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: mate_release: Right hand fits the green block onto the top of the target white block, then releases fingers to separate from the block."}], "episode_index": 21}
+{"source_uid": "440f8cac0e9cb654", "num_frames": 3062, "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 from the initial raised position to the left front home position, with fingers slightly bending and wrist rotating slightly. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "goal", "start_step": 0, "end_step": 222, "id": "bad1c8fa-6bbc-4443-bbcc-9cc9c477a4bd"}, {"label": "valid", "start_step": 0, "end_step": 3034, "id": "_oE4VpMGpGhwDAOzd7KGm"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface without moving, with no observable displacement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions around the adjacent green hexagonal block resting on the black table next to the wooden peg board, closing fingers to form a stable grip on the block."}, {"label": "goal", "start_step": 223, "end_step": 459, "id": "c32f531f-d788-413b-a60f-e6ab155c3743"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely off the black table surface into the air."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block toward the left purple peg on the wooden board, aligns the block's central hole with the peg, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal block seated on the left purple peg of the wooden peg board, with no observable movement of the hand, fingers, or held block."}, {"label": "subtasks", "start_step": 450, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the wooden peg assembly toward the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 460, "end_step": 561, "id": "9c66d351-efe4-48d9-a1ff-d4eedc2d72fc"}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 562, "end_step": 711, "id": "67975cc3-c748-4e7a-8a5a-bdfd5c4a0c8c"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it toward the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple peg and moves it downward to nest the cylinder onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple peg without observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal nut on the table surface, with fingers extended and no contact with the target nut."}, {"label": "goal", "start_step": 712, "end_step": 807, "id": "f7cd2c24-541d-4738-8f3e-82127ac9a5a3"}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "goal", "start_step": 808, "end_step": 1050, "id": "626bb746-8cd8-4231-a357-307300a8b2df"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transports the block upward and toward the wooden base to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, adjusts the block's position and orientation, lowers the block to fit securely onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block on the purple peg, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: retreat: Right hand, now empty, moves horizontally away from the assembled block on the wooden base to retreat from the operation area."}, {"label": "goal", "start_step": 1051, "end_step": 1152, "id": "3330775f-0a1e-4ff1-b148-d442e95c8f68"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut adjacent to the wooden stacking block base, with fingers open, remaining out of contact with the nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to establish a grasp, with the nut staying on the table surface."}, {"label": "goal", "start_step": 1153, "end_step": 1281, "id": "ae992669-53cc-441e-bddd-507c72742838"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to fit it onto the purple peg, until the block rests stably on the peg assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the block assembly area toward the green hexagonal nut on the table surface."}, {"label": "goal", "start_step": 1282, "end_step": 1374, "id": "dcd90cab-b0b0-4d75-8da4-b021fa22fe9f"}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table surface, making subtle finger adjustments to establish contact with the object."}, {"label": "goal", "start_step": 1375, "end_step": 1641, "id": "42c9833d-cdcc-469c-b4b0-cbc7dd0b8e8e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and transports it upward and toward the wooden assembly board until it is positioned directly over the target purple vertical peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1634, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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 vertical peg, making small positional and rotational adjustments to slide the block down the peg until it rests securely on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to begin releasing the seated green hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the position above the wooden assembly stand toward the white hexagonal nut on the front table surface, with fingers open, approaching the target without establishing a stable grip."}, {"label": "goal", "start_step": 1642, "end_step": 1815, "id": "2c6117b7-c6ff-4426-bea0-8d819bc5f29d"}, {"label": "subtasks", "start_step": 1688, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger and wrist positions to form a stable grip, causing the nut to tip onto its side on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the stably gripped white hexagonal nut and moves upward, beginning to lift the nut from the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable grasp of the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1816, "end_step": 1989, "id": "212eb5f6-8061-4bf4-9fe9-c1ccd92fdb12"}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod, forming the nested assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block that is fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden assembly stand, lifting fingers slightly away from the block."}, {"label": "goal", "start_step": 1990, "end_step": 2088, "id": "89877141-ffe2-47a1-b2c3-310762eb84e1"}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the small white hexagonal block positioned next to the wooden assembly stand, with no contact with any object during movement."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface, making slight finger adjustments to secure the grip on the block."}, {"label": "goal", "start_step": 2089, "end_step": 2319, "id": "e9c549de-de7b-4cde-a5fd-7c8df3aef449"}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the white hexagonal cylinder through the air toward the empty mounting position on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod on the wooden block base, moving the object downward to fit onto the rod during alignment."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod."}, {"label": "goal", "start_step": 2320, "end_step": 2400, "id": "62765bef-3eec-426f-8b59-e6f8de318607"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves in a downward-right direction with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white cylindrical block stably, and lifts it upward until the block completely leaves the black table support surface."}, {"label": "goal", "start_step": 2401, "end_step": 2634, "id": "e95c1f3b-8578-4af0-8fa1-24450fd8cc5a"}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the grasped white cylindrical block to move upward and leftward, transporting the block to the position directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2475, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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, then moves the block downward to fit it onto the rod until the two objects form a stable assembled state."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers gradually to release the assembled white cylindrical block on the purple rod, separating the hand from the block completely."}, {"label": "goal", "start_step": 2635, "end_step": 2745, "id": "6fcce438-0936-42da-9183-148eec8d0a5f"}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the green hollow cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions to close around the green hollow cube on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2745, "end_step": 2781, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the firmly grasped green block upward from the dark table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2746, "end_step": 2982, "id": "d3a84500-28f1-491c-9807-467301475200"}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the lifted green block upward and leftward through the air to the position directly above the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2835, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white cylindrical peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green block fitted onto the white cylindrical peg without observable movement."}, {"label": "home", "start_step": 3035, "end_step": 3061, "id": "WT9vvSmxopxJS6tFxTmwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial raised position to the left front home position, with fingers slightly bending and wrist rotating slightly. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface without moving, with no observable displacement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions around the adjacent green hexagonal block resting on the black table next to the wooden peg board, closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely off the black table surface into the air."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block toward the left purple peg on the wooden board, aligns the block's central hole with the peg, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal block seated on the left purple peg of the wooden peg board, with no observable movement of the hand, fingers, or held block."}, {"label": "subtasks", "start_step": 450, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the wooden peg assembly toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it toward the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple peg and moves it downward to nest the cylinder onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple peg without observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal nut on the table surface, with fingers extended and no contact with the target nut."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transports the block upward and toward the wooden base to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, adjusts the block's position and orientation, lowers the block to fit securely onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block on the purple peg, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: retreat: Right hand, now empty, moves horizontally away from the assembled block on the wooden base to retreat from the operation area."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut adjacent to the wooden stacking block base, with fingers open, remaining out of contact with the nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to establish a grasp, with the nut staying on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to fit it onto the purple peg, until the block rests stably on the peg assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the block assembly area toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table surface, making subtle finger adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and transports it upward and toward the wooden assembly board until it is positioned directly over the target purple vertical peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1634, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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 vertical peg, making small positional and rotational adjustments to slide the block down the peg until it rests securely on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to begin releasing the seated green hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the position above the wooden assembly stand toward the white hexagonal nut on the front table surface, with fingers open, approaching the target without establishing a stable grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger and wrist positions to form a stable grip, causing the nut to tip onto its side on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the stably gripped white hexagonal nut and moves upward, beginning to lift the nut from the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable grasp of the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod, forming the nested assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block that is fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden assembly stand, lifting fingers slightly away from the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the small white hexagonal block positioned next to the wooden assembly stand, with no contact with any object during movement."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface, making slight finger adjustments to secure the grip on the block."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the white hexagonal cylinder through the air toward the empty mounting position on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod on the wooden block base, moving the object downward to fit onto the rod during alignment."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves in a downward-right direction with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white cylindrical block stably, and lifts it upward until the block completely leaves the black table support surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the grasped white cylindrical block to move upward and leftward, transporting the block to the position directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2475, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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, then moves the block downward to fit it onto the rod until the two objects form a stable assembled state."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers gradually to release the assembled white cylindrical block on the purple rod, separating the hand from the block completely."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the green hollow cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions to close around the green hollow cube on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2745, "end_step": 2781, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the firmly grasped green block upward from the dark table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the lifted green block upward and leftward through the air to the position directly above the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2835, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white cylindrical peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green block fitted onto the white cylindrical peg without observable movement."}], "episode_index": 22}
+{"source_uid": "0f56ac1e01564123", "num_frames": 2521, "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 returns to the left home position, rotating its wrist approximately 90 degrees and moving slightly forward. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "da127ca6-ad1c-4ad2-818d-b6ebad5dde93"}, {"label": "valid", "start_step": 0, "end_step": 2493, "id": "XRn65on5oPiUAqmijPAzm"}, {"label": "subtasks", "start_step": 30, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 187, "end_step": 333, "id": "719188fd-4ec2-4da3-baf8-cf23e05f1bf7"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the left purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block onto the left purple peg by aligning the block hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the peg board, with fingers opening to separate from the part."}, {"label": "goal", "start_step": 334, "end_step": 432, "id": "1c293e74-9f02-4cea-b722-5de76e0e03a3"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal part on the table, without touching the part."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "goal", "start_step": 433, "end_step": 681, "id": "c2a2486f-fc3d-4001-a2de-eac990c6b7dd"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "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 nut off the work surface and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, then lowers the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening and separating from the nut."}, {"label": "goal", "start_step": 682, "end_step": 801, "id": "bb468f00-351c-48aa-82fc-d145b88f0a75"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00017", "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 on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00018", "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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 802, "end_step": 987, "id": "2b1e1621-84d0-4750-b608-7281f151d958"}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "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 cylindrical block on the table in front of the stacking base."}, {"label": "goal", "start_step": 988, "end_step": 1110, "id": "c78ccc34-a3ab-4a05-8ea7-d5e7a3e3a9e3"}, {"label": "subtasks", "start_step": 1020, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1111, "end_step": 1269, "id": "74b75191-00e7-4a17-9ce0-8a58a74575d0"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00024", "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 to the top of a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00025", "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 rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without 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": 1270, "end_step": 1365, "id": "1337bf61-09f5-4625-a422-010de8a16051"}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00028", "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 desktop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00029", "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 desktop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00030", "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 desktop without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "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 form a stable grip."}, {"label": "goal", "start_step": 1366, "end_step": 1509, "id": "847ef286-deda-4ae0-a6d3-bef6a1b9a89c"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00032", "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 white peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base, sliding the block upward along the rod."}, {"label": "goal", "start_step": 1510, "end_step": 1611, "id": "acc2bcd9-3ffd-4f03-afe9-665595e5e210"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 hollow cylinder on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1612, "end_step": 1761, "id": "726ce163-e14d-42ef-bce2-e0fd7f5fbb47"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "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 from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg on the wooden base by aligning the cylinder hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold_release: Right hand holds the white hollow cylinder on the purple peg steadily before releasing it by opening its fingers."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1762, "end_step": 1860, "id": "6d30d223-9aa4-47b8-87a7-9261f208baf9"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "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": 1860, "end_step": 1889, "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 white cylindrical ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1861, "end_step": 1998, "id": "c6648776-4dc2-4734-a7e9-427a1461887b"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "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 cylindrical ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "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 white cylindrical ring with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00051", "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 to the right of the wooden base."}, {"label": "goal", "start_step": 1999, "end_step": 2064, "id": "04c12bba-d9b1-40db-922f-9ae79b2e3a67"}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00052", "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 adjusting to form a stable grip."}, {"label": "goal", "start_step": 2065, "end_step": 2205, "id": "d8393da4-4255-4f11-8214-5292f6fc0369"}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, fits it onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00055", "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 block on the table, without contacting the block."}, {"label": "goal", "start_step": 2206, "end_step": 2283, "id": "911337f0-5b9b-4b30-ac5a-31fe2e908a78"}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand contacts the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2284, "end_step": 2442, "id": "e7b2f511-b2ea-4cbe-aba0-43940a6d4829"}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "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 from the table surface and transports it to the position above the purple-tipped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green ring with the purple-tipped white cylinder by lowering and fitting the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring on the purple-tipped white cylinder without moving."}, {"label": "home", "start_step": 2494, "end_step": 2520, "id": "Y56aFNe6ptCK1acyVNTbV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand returns to the left home position, rotating its wrist approximately 90 degrees and moving slightly forward. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "subtasks", "start_step": 30, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the left purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block onto the left purple peg by aligning the block hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the peg board, with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal part on the table, without touching the part."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "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 nut off the work surface and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, then lowers the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening and separating from the nut."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00017", "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 on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00018", "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, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "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 cylindrical block on the table in front of the stacking base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00024", "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 to the top of a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00025", "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 rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without 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": 1282, "end_step": 1334, "id": "reasoning-language-00028", "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 desktop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00029", "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 desktop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00030", "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 desktop without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "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 form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00032", "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 white peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base, sliding the block upward along the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 hollow cylinder on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "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 from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg on the wooden base by aligning the cylinder hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold_release: Right hand holds the white hollow cylinder on the purple peg steadily before releasing it by opening its fingers."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "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": 1860, "end_step": 1889, "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 white cylindrical ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "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 cylindrical ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "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 white cylindrical ring with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00051", "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 to the right of the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00052", "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, fits it onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00055", "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 block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand contacts the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "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 from the table surface and transports it to the position above the purple-tipped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green ring with the purple-tipped white cylinder by lowering and fitting the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring on the purple-tipped white cylinder without moving."}], "episode_index": 23}
+{"source_uid": "5a83b559fb452632", "num_frames": 2711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal nut placed in front-left of the wooden peg assembly, with fingers slightly adjusting posture during the movement."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "e6eb8b55-ea24-4943-b335-cd079c469a58"}, {"label": "valid", "start_step": 0, "end_step": 2682, "id": "LznAg2h_rRggU-9raDXYq"}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table surface, closes fingers around the nut and makes slight adjustments to wrist and finger positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "goal", "start_step": 187, "end_step": 381, "id": "2a54d7c0-f765-42bd-814c-687120d2b47a"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the firmly gripped green hexagonal nut upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted green hexagonal nut through the air toward the target purple vertical peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the target purple peg, lowering the nut to fit it securely onto the vertical peg."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the fitted green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand presses the green hexagonal block onto the purple peg of the wooden assembly board with downward finger force."}, {"label": "goal", "start_step": 382, "end_step": 477, "id": "f437f663-9067-4594-a028-f95023a41d8b"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "goal", "start_step": 478, "end_step": 684, "id": "aabf3522-4bef-4f0b-a6e7-59c3ce6823b7"}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and toward the purple peg on the wooden assembly block, positioning the nut above the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut onto the peg, and makes slight positional adjustments to fit the nut securely on the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple peg, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place: Right hand lowers the held white hexagonal block onto the purple peg of the wooden base until the block is stably supported by the base."}, {"label": "goal", "start_step": 685, "end_step": 816, "id": "add2ae1f-2564-4a01-913a-57a8e2d28702"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers gradually to release the supported white hexagonal block on the purple peg, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the wooden base area to approach the white hexagonal block resting on the front table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip on the block."}, {"label": "goal", "start_step": 817, "end_step": 984, "id": "ac142105-58e0-4525-9e3f-f56121d4f5d9"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut fully off the table surface, moving it upward and toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place_release: Right hand holds a white cylindrical block, moves it downward to seat it onto a purple peg on the wooden base assembly, opens fingers to release the fully supported cylinder."}, {"label": "goal", "start_step": 985, "end_step": 1110, "id": "0aa43523-f754-473e-a06e-9f0504ee1984"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the table directly in front of the wooden base, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, makes small adjustments to finger positions to form a stable grip on the nut, which stays resting on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table with a stable grip, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylinder resting on the table near the block base."}, {"label": "goal", "start_step": 1111, "end_step": 1275, "id": "2bb3b485-3d62-4248-bcb4-026b56930610"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface and moves it upward to the position above the purple post on the block base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white cylinder with the purple post and fits it down onto the post during assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and forward from the area near the wooden stacking base toward the green hexagonal block on the table, with fingers open and no contact with the target block."}, {"label": "goal", "start_step": 1276, "end_step": 1356, "id": "881b4213-a48b-4875-aa79-82d053dffa98"}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "goal", "start_step": 1357, "end_step": 1506, "id": "a8d2b9c8-f2cf-4a51-92c3-a24447db9741"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod and moves the block downward to fit securely onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the front white hexagonal block on the black table surface, with fingers held in a slightly open posture."}, {"label": "goal", "start_step": 1507, "end_step": 1605, "id": "b52199bf-a5e9-4ad4-8c03-77b3a7fcd066"}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closing fingers and adjusting contact positions to form a grip on the block which remains resting on the table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1911, "id": "c8cc64eb-598e-41e5-a9a7-b805b992fa6a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block through the air toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden base, making small positional and rotational adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand applies downward pressure on the top surface of the white hexagonal block to seat it firmly onto the underlying green block on the rod."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand rests on the seated white hexagonal block without any observable movement, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden assembly base, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1912, "end_step": 2016, "id": "490267c1-b974-4943-82c8-1c8485adc794"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making slight adjustments to finger and wrist positions to form contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip on the stationary nut."}, {"label": "goal", "start_step": 2017, "end_step": 2163, "id": "6df671ba-eaae-4959-a29f-7a4d2f8c4bc7"}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod, opens fingers to separate from the seated nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 2164, "end_step": 2259, "id": "d56cd1e4-ee86-44dd-881c-f0c7dfde967d"}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to establish a grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 2260, "end_step": 2400, "id": "0c94b3c0-b7ac-4379-82ee-4c2109397492"}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface, transporting the object upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base, lowering the object to fit it onto the peg to establish the assembled position."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: idle: Right hand stays empty near the upper-right wooden block rack without any observable movement."}, {"label": "goal", "start_step": 2401, "end_step": 2487, "id": "092c2e77-1863-4e94-8861-ecb4775c3c35"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and right toward the green square block on the front-right table surface, with fingers kept extended until reaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand flexes its fingers to enclose the green square block on the table, making small adjustments to finger positions to form a grip on the block."}, {"label": "goal", "start_step": 2488, "end_step": 2628, "id": "8a238377-dce9-4267-ae3a-18de4397f27c"}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green ring completely off the table surface, moving it upward and leftward to the position above the white cylinder with a purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the green ring with the target white cylinder, lowers the ring to nest it onto the cylinder, opening fingers to release the ring."}, {"label": "home", "start_step": 2683, "end_step": 2710, "id": "j4qcgbR-q8SgZwHm0N6Hr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal nut placed in front-left of the wooden peg assembly, with fingers slightly adjusting posture during the movement."}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table surface, closes fingers around the nut and makes slight adjustments to wrist and finger positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the firmly gripped green hexagonal nut upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted green hexagonal nut through the air toward the target purple vertical peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the target purple peg, lowering the nut to fit it securely onto the vertical peg."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the fitted green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand presses the green hexagonal block onto the purple peg of the wooden assembly board with downward finger force."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | 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": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and toward the purple peg on the wooden assembly block, positioning the nut above the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut onto the peg, and makes slight positional adjustments to fit the nut securely on the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple peg, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place: Right hand lowers the held white hexagonal block onto the purple peg of the wooden base until the block is stably supported by the base."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers gradually to release the supported white hexagonal block on the purple peg, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the wooden base area to approach the white hexagonal block resting on the front table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip on the block."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut fully off the table surface, moving it upward and toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place_release: Right hand holds a white cylindrical block, moves it downward to seat it onto a purple peg on the wooden base assembly, opens fingers to release the fully supported cylinder."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the table directly in front of the wooden base, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, makes small adjustments to finger positions to form a stable grip on the nut, which stays resting on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table with a stable grip, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylinder resting on the table near the block base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface and moves it upward to the position above the purple post on the block base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white cylinder with the purple post and fits it down onto the post during assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and forward from the area near the wooden stacking base toward the green hexagonal block on the table, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod and moves the block downward to fit securely onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the front white hexagonal block on the black table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closing fingers and adjusting contact positions to form a grip on the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block through the air toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden base, making small positional and rotational adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand applies downward pressure on the top surface of the white hexagonal block to seat it firmly onto the underlying green block on the rod."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand rests on the seated white hexagonal block without any observable movement, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden assembly base, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making slight adjustments to finger and wrist positions to form contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip on the stationary nut."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod, opens fingers to separate from the seated nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to establish a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface, transporting the object upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base, lowering the object to fit it onto the peg to establish the assembled position."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: idle: Right hand stays empty near the upper-right wooden block rack without any observable movement."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and right toward the green square block on the front-right table surface, with fingers kept extended until reaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand flexes its fingers to enclose the green square block on the table, making small adjustments to finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green ring completely off the table surface, moving it upward and leftward to the position above the white cylinder with a purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the green ring with the target white cylinder, lowers the ring to nest it onto the cylinder, opening fingers to release the ring."}], "episode_index": 24}
+{"source_uid": "4d7e27cb9bc965ea", "num_frames": 3115, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger and wrist posture at the left side of the workspace, with no obvious wrist displacement and no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts finger and wrist posture at the right initial position of the workspace, with no obvious wrist displacement and no contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "a36da4d6-491e-45e1-94c4-d5c457158f31"}, {"label": "valid", "start_step": 0, "end_step": 3085, "id": "igRnUOb6FEGgiUdJM6hox"}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden peg base, remaining empty and not yet making contact with the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table surface, closes fingers and adjusts contact points to form a grasp, with the block remaining supported by the table throughout this segment."}, {"label": "goal", "start_step": 199, "end_step": 342, "id": "0174c0ef-7290-4a85-a9c4-465d56d8419e"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface, then moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg, then lowers it to fit onto the peg until the nut rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 450, "id": "5c8fac72-958b-41cf-974c-a9bf4764d668"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the seated green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release_reach: Right hand releases the green block and moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "goal", "start_step": 451, "end_step": 597, "id": "9fc9dfe1-5d31-485f-abf8-db5e2cf765a0"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand adjusts the white block on the purple peg to align and seat it into the wooden pegboard assembly."}, {"label": "goal", "start_step": 598, "end_step": 696, "id": "0645e8c3-2a80-4081-a744-0028a88199ca"}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grasp on the block."}, {"label": "goal", "start_step": 697, "end_step": 918, "id": "d89db5db-43d5-4d59-89d1-b74773765666"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table surface and transports it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downwards from the upper assembly area toward the white hexagonal nut adjacent to the wooden assembly base on the table, without contacting the nut."}, {"label": "goal", "start_step": 919, "end_step": 1044, "id": "b3903d32-a7d2-45d6-a3a0-f2b608f04baf"}, {"label": "subtasks", "start_step": 952, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight continuous adjustments to finger and wrist positions to form a stable grip."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "f7a2a6dd-3910-4edd-8b90-bc1efa6aba9c"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | 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": 1088, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the dark table surface with fingers open."}, {"label": "goal", "start_step": 1189, "end_step": 1269, "id": "806022a3-277e-46a5-8e19-f2dca542f054"}, {"label": "subtasks", "start_step": 1222, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "goal", "start_step": 1270, "end_step": 1443, "id": "fad36d85-bd70-48cd-be97-fd16152f89ea"}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to position directly above the purple rod on the nearby wooden stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: place: Right hand lowers the green hexagonal block, aligns its central hole with the purple rod, slides the block down the rod, and sets it onto the existing green block on the wooden stand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block on the stacked block assembly downward to seat it firmly onto the white support post."}, {"label": "goal", "start_step": 1444, "end_step": 1530, "id": "756da95b-1895-4c75-be13-2926962dc563"}, {"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 workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface near the loose green block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1531, "end_step": 1707, "id": "a5f60475-4baa-4670-842a-5fc357c46de5"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder completely off the dark table surface, moving it upward and toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the target vertical post on the stacked block assembly, making small positional adjustments to nest the cylinder onto the post."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the stacked block assembly, lifting slightly away from the block."}, {"label": "goal", "start_step": 1708, "end_step": 1812, "id": "c550d514-32ff-4f2d-bdc3-ffef04001b59"}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block placed adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table next to the wooden base to establish a grasp."}, {"label": "goal", "start_step": 1813, "end_step": 1998, "id": "e05e5068-84f1-42a6-861d-5bf283920cf1"}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift: Right hand moves upward with the grasped white cylindrical object, lifting the object completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white cylindrical object through the air toward the vertical purple rod mounted on the light wooden tray."}, {"label": "subtasks", "start_step": 1898, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the vertical purple rod on the tray, lowering the object to fit and nest onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the white hexagonal nut placed on the table surface."}, {"label": "goal", "start_step": 1999, "end_step": 2617, "id": "be569dd7-4d54-4514-9c0a-58922b71d23c"}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the stacked block base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2437, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the right area of the table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the fallen white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut, adjusting finger contact positions to establish a grasp on the nut."}, {"label": "goal", "start_step": 2618, "end_step": 2812, "id": "8ac295b3-1274-41c3-82e1-a8005908cee2"}, {"label": "subtasks", "start_step": 2662, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it leftward to the position above the wooden assembly stand."}, {"label": "subtasks", "start_step": 2722, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty target position on the assembly stand, positioning it to fit securely onto the stand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses downward on the top of the white bottle with a purple cap positioned on the wooden tray."}, {"label": "goal", "start_step": 2813, "end_step": 2899, "id": "4f4c2fff-631e-4b79-8a46-d533f8b11ec3"}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downwards toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2858, "end_step": 2917, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the dark table to form a grip."}, {"label": "goal", "start_step": 2900, "end_step": 3043, "id": "3a73527d-87e5-45d0-8543-0f2dc1eeee30"}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it toward the wooden block rack placed at the center of the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 3044, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green block with the purple post on the wooden rack and fits the block onto the post to form an assembled connection."}, {"label": "home", "start_step": 3086, "end_step": 3114, "id": "-IXM53DnWin5zLXquHMbR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger and wrist posture at the left side of the workspace, with no obvious wrist displacement and no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts finger and wrist posture at the right initial position of the workspace, with no obvious wrist displacement and no contact with any objects."}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden peg base, remaining empty and not yet making contact with the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table surface, closes fingers and adjusts contact points to form a grasp, with the block remaining supported by the table throughout this segment."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface, then moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg, then lowers it to fit onto the peg until the nut rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the seated green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release_reach: Right hand releases the green block and moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand adjusts the white block on the purple peg to align and seat it into the wooden pegboard assembly."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grasp on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table surface and transports it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downwards from the upper assembly area toward the white hexagonal nut adjacent to the wooden assembly base on the table, without contacting the nut."}, {"label": "subtasks", "start_step": 952, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight continuous adjustments to finger and wrist positions to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | 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": 1088, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the dark table surface with fingers open."}, {"label": "subtasks", "start_step": 1222, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to position directly above the purple rod on the nearby wooden stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: place: Right hand lowers the green hexagonal block, aligns its central hole with the purple rod, slides the block down the rod, and sets it onto the existing green block on the wooden stand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block on the stacked block assembly downward to seat it firmly onto the white support post."}, {"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 workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface near the loose green block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder completely off the dark table surface, moving it upward and toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the target vertical post on the stacked block assembly, making small positional adjustments to nest the cylinder onto the post."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the stacked block assembly, lifting slightly away from the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block placed adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table next to the wooden base to establish a grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift: Right hand moves upward with the grasped white cylindrical object, lifting the object completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white cylindrical object through the air toward the vertical purple rod mounted on the light wooden tray."}, {"label": "subtasks", "start_step": 1898, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the vertical purple rod on the tray, lowering the object to fit and nest onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the stacked block base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2437, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the right area of the table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the fallen white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut, adjusting finger contact positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2662, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it leftward to the position above the wooden assembly stand."}, {"label": "subtasks", "start_step": 2722, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty target position on the assembly stand, positioning it to fit securely onto the stand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses downward on the top of the white bottle with a purple cap positioned on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downwards toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2858, "end_step": 2917, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the dark table to form a grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it toward the wooden block rack placed at the center of the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 3044, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green block with the purple post on the wooden rack and fits the block onto the post to form an assembled connection."}], "episode_index": 25}
+{"source_uid": "3c6968403a93e222", "num_frames": 2575, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "8b3e92ca-2fbe-4b9b-83e8-8f7470400ca4"}, {"label": "valid", "start_step": 0, "end_step": 2545, "id": "XCnyOdYIe0JQ7dsR0pwxM"}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 175, "end_step": 312, "id": "d295ff7a-4046-4b7d-a082-48ef001e46d7"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "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 green cubic block up away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "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 mates the green cubic block onto the purple rod of the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "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 block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 313, "end_step": 411, "id": "8bf8b7e4-25f0-4b7a-8a92-74830afb03e0"}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00007", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00008", "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": 412, "end_step": 561, "id": "80162722-5add-42f8-a2f3-89c99b83cd62"}, {"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 operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "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 nut onto the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 547, "id": "reasoning-language-00011", "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 nut down along the leftmost purple rod until it fits onto the green base part."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00012", "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 nut by opening fingers and moving slightly upward away from the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 562, "end_step": 654, "id": "7e112cda-00c8-4e11-80b0-f4b02ad99cc4"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "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 table."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00015", "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 table."}, {"label": "goal", "start_step": 655, "end_step": 819, "id": "ddf50f94-1d51-4d56-bb5a-316ff7fe758c"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 hollow part off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "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 hollow part with the purple rod by aligning its hole with the rod top."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "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 hollow part down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal hollow part and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "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 in front of the wooden base."}, {"label": "goal", "start_step": 820, "end_step": 921, "id": "ac8668ef-0b9f-4f52-b858-9780796b3f38"}, {"label": "subtasks", "start_step": 840, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 922, "end_step": 1170, "id": "39a57e71-3dbe-4ae7-a77c-f904d2634c48"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00023", "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 base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00024", "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 from its grasp."}, {"label": "goal", "start_step": 1171, "end_step": 1266, "id": "27029f32-3cf6-43da-b6d3-b419c505e744"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00026", "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": 1267, "end_step": 1413, "id": "fb271fdd-c98c-457b-b54b-179985ff92de"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00027", "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 rack with vertical pegs."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00028", "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 vertical peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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 downward from the block set toward the white hexagonal block on the lower table surface."}, {"label": "goal", "start_step": 1414, "end_step": 1497, "id": "e97bfa6e-f4e6-4128-b1bf-51b341011423"}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "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 fingers to grasp the white hexagonal block on the lower table surface."}, {"label": "goal", "start_step": 1498, "end_step": 1641, "id": "4e1ab1b3-a31c-4bfe-9aa3-6c6485226dfa"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the green post on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand lowers the white hollow cylinder towards the top of the green post on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 fits the white hollow cylinder onto the green post to complete the assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "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 cylindrical block on the wooden base by opening fingers."}, {"label": "goal", "start_step": 1642, "end_step": 1746, "id": "ad305233-94ed-416e-bfb0-92b5b742a2e4"}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1784, "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 closes fingers to grasp the white cylindrical block on the table next to the wooden base."}, {"label": "goal", "start_step": 1747, "end_step": 1911, "id": "807c0935-9ebf-4ca0-8085-9a2acb3db798"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00038", "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": 1905, "end_step": 1941, "id": "reasoning-language-00039", "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."}, {"label": "goal", "start_step": 1912, "end_step": 1995, "id": "5fa7a81c-77ba-4701-b1d3-a5b7bf9c1638"}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00040", "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 hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1996, "end_step": 2253, "id": "6e4ced5f-cef9-48ec-81b4-d92b9b90b98c"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00041", "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 object from the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2167, "id": "reasoning-language-00042", "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 object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00043", "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 cylindrical object down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 inserts the small pin into the top hole of the white cylinder on the wooden tray."}, {"label": "goal", "start_step": 2254, "end_step": 2349, "id": "951d0997-167f-4c68-84bf-2a720af881b1"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "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 green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cube on the table."}, {"label": "goal", "start_step": 2350, "end_step": 2517, "id": "dbb2811c-f344-428f-b0ca-98a08bb7c83b"}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "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 from the table and moves it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2497, "id": "reasoning-language-00048", "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 top of the white bottle with purple cap and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "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 bottle."}, {"label": "home", "start_step": 2546, "end_step": 2574, "id": "QI_NIRcEqaSqL7wPmNYUa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "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 green cubic block up away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "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 mates the green cubic block onto the purple rod of the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "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 block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00007", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00008", "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": 435, "end_step": 457, "id": "reasoning-language-00009", "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 nut from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "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 nut onto the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 547, "id": "reasoning-language-00011", "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 nut down along the leftmost purple rod until it fits onto the green base part."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00012", "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 nut by opening fingers and moving slightly upward away from the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "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 table."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00015", "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 table."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 hollow part off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "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 hollow part with the purple rod by aligning its hole with the rod top."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "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 hollow part down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal hollow part and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 840, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00023", "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 base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00024", "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 from its grasp."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00026", "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": 1305, "end_step": 1334, "id": "reasoning-language-00027", "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 rack with vertical pegs."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00028", "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 vertical peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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 downward from the block set toward the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "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 fingers to grasp the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the green post on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand lowers the white hollow cylinder towards the top of the green post on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 fits the white hollow cylinder onto the green post to complete the assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "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 cylindrical block on the wooden base by opening fingers."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1784, "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 closes fingers to grasp the white cylindrical block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00038", "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": 1905, "end_step": 1941, "id": "reasoning-language-00039", "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."}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00040", "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 hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00041", "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 object from the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2167, "id": "reasoning-language-00042", "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 object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00043", "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 cylindrical object down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 inserts the small pin into the top hole of the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "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 green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cube on the table."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "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 from the table and moves it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2497, "id": "reasoning-language-00048", "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 top of the white bottle with purple cap and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "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 bottle."}], "episode_index": 26}
+{"source_uid": "a1a4515c6887a268", "num_frames": 2521, "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 empty from its initial position on the far left to the home position above the left side of the table, adjusting finger posture as it moves, and comes to a stop. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "2d5a5bb0-19ee-482f-b60f-817a1540b494"}, {"label": "valid", "start_step": 0, "end_step": 2491, "id": "hVjhLYfzKDiJgRzu8DEh3"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block adjacent to the wooden assembly, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 205, "end_step": 384, "id": "5e6f1204-969d-49a6-b70f-59a7c210feed"}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the supporting surface and transports it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 385, "end_step": 483, "id": "9430e426-1f6c-480b-9f38-8325886a48fa"}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and making slight adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 484, "end_step": 630, "id": "1bf54bac-60ec-4f9c-bbb9-bc952f9ac44d"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from the area near the block assembly base toward the white hexagonal block resting on the table in front of the base, remaining empty and not making contact with the target block during movement."}, {"label": "goal", "start_step": 631, "end_step": 720, "id": "f1c6089b-3517-4659-912f-4180d3d81a12"}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closing fingers and adjusting finger positions to establish a stable grip on the block while the block stays on the table surface."}, {"label": "goal", "start_step": 721, "end_step": 936, "id": "03f3064c-7a73-4391-9b63-05ad1836304c"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 780, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, makes slight positional adjustments, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and slightly toward the camera from above the wooden peg assembly, approaching the white hexagonal nut placed on the table near the base, with fingers held open."}, {"label": "goal", "start_step": 937, "end_step": 1032, "id": "85c91ade-896c-42ed-a4d3-bea8f6b0d614"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the top of the white hexagonal nut, fingers flex and adjust contact positions to form a stable grip on the nut, which remains resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface, with no observable movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1033, "end_step": 1206, "id": "6a5e799c-d81b-4196-ae1b-1c5d005fc4b0"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the black table surface, moving it upward and horizontally toward the vertical purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the vertical purple peg on the wooden base, lowering the block onto the peg and making small positional adjustments to fit it into the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the top of the wooden block base toward the green hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1207, "end_step": 1266, "id": "ca752eca-0dfb-4ac2-bd50-1a4476afa37f"}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1267, "end_step": 1449, "id": "ebbeaf38-4cc8-40c1-b549-976c5b3287eb"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, then moves the block upward and toward the target purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments before lowering the block to fit onto the peg over the existing white block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the grip on the green hexagonal block that is seated on the purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: retreat: Right hand moves empty away from the assembled green block on the peg after releasing its grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the position adjacent to the stacked block assembly toward the front white hexagonal block on the table, with fingers slightly spread during the approaching movement."}, {"label": "goal", "start_step": 1450, "end_step": 1533, "id": "bcd3aa1b-8a12-4406-9ac4-e1a1696b141d"}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closes its fingers around the block and makes small finger adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1534, "end_step": 1728, "id": "c2d17bdc-4d04-493d-9d84-207ee39c435d"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly, positioning the block directly above the purple vertical rod on the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod and seat it against the stacked block below, opening fingers to release the block and separate the hand from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves from the stacked block area toward the small white hexagonal nut adjacent to the wooden block base, holding fingers extended as it approaches the target."}, {"label": "goal", "start_step": 1729, "end_step": 1827, "id": "13a4d402-cb0c-4eb3-9263-fc7a20ccc78d"}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the small white hexagonal nut adjacent to the wooden block base, adjusting finger positions around the nut to establish a stable grip."}, {"label": "goal", "start_step": 1828, "end_step": 1947, "id": "c00eb814-0784-449e-a8b5-50545660be52"}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moves it upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block to fit it onto the rod to assemble with the existing stacked blocks."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with no contact to the block."}, {"label": "goal", "start_step": 1948, "end_step": 2010, "id": "2bed9694-06ad-4edc-95fa-b8f2c9b73c5c"}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers around the white and green block on the table to form a stable grasp, with the block resting on the table surface."}, {"label": "goal", "start_step": 2011, "end_step": 2178, "id": "1754921a-5ecb-4866-810a-332baf29e3a7"}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white and green block vertically upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white and green block toward the wooden block stand, positioning it directly above the purple vertical rod on the stand."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white and green block with the purple rod, lowering the block to fit the rod through its hole."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the white and green block along the purple rod until the block rests stably on the supporting block fixed on the wooden stand."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release_retreat: Right hand opens its fingers to release the placed white and green block, moving away from the assembled block on the stand."}, {"label": "goal", "start_step": 2179, "end_step": 2253, "id": "c275e63c-70bc-4a3c-967a-9e9c82f41703"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface, staying out of contact with the block during movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cubic block on the dark table surface, closing fingers and adjusting finger positions to establish a grip on the block which remains supported by the table."}, {"label": "goal", "start_step": 2254, "end_step": 2448, "id": "677944bf-e936-4760-a506-95352d333238"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and transports it upward and leftward to the position directly above the stacked objects on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the green block downward, adjusting alignment to place it steadily on top of the rightmost white cylindrical object on the tray, until the block is supported by the cylinder."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green block, beginning to move away from the placed object."}, {"label": "home", "start_step": 2492, "end_step": 2520, "id": "Tr0E3HzWl9CbLMmFqIsjn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial position on the far left to the home position above the left side of the table, adjusting finger posture as it moves, and comes to a stop. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block adjacent to the wooden assembly, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the supporting surface and transports it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and making slight adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from the area near the block assembly base toward the white hexagonal block resting on the table in front of the base, remaining empty and not making contact with the target block during movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closing fingers and adjusting finger positions to establish a stable grip on the block while the block stays on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 780, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, makes slight positional adjustments, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and slightly toward the camera from above the wooden peg assembly, approaching the white hexagonal nut placed on the table near the base, with fingers held open."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the top of the white hexagonal nut, fingers flex and adjust contact positions to form a stable grip on the nut, which remains resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface, with no observable movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the black table surface, moving it upward and horizontally toward the vertical purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the vertical purple peg on the wooden base, lowering the block onto the peg and making small positional adjustments to fit it into the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the top of the wooden block base toward the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, then moves the block upward and toward the target purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments before lowering the block to fit onto the peg over the existing white block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the grip on the green hexagonal block that is seated on the purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: retreat: Right hand moves empty away from the assembled green block on the peg after releasing its grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the position adjacent to the stacked block assembly toward the front white hexagonal block on the table, with fingers slightly spread during the approaching movement."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closes its fingers around the block and makes small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly, positioning the block directly above the purple vertical rod on the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod and seat it against the stacked block below, opening fingers to release the block and separate the hand from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves from the stacked block area toward the small white hexagonal nut adjacent to the wooden block base, holding fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the small white hexagonal nut adjacent to the wooden block base, adjusting finger positions around the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moves it upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block to fit it onto the rod to assemble with the existing stacked blocks."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers around the white and green block on the table to form a stable grasp, with the block resting on the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white and green block vertically upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white and green block toward the wooden block stand, positioning it directly above the purple vertical rod on the stand."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white and green block with the purple rod, lowering the block to fit the rod through its hole."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the white and green block along the purple rod until the block rests stably on the supporting block fixed on the wooden stand."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release_retreat: Right hand opens its fingers to release the placed white and green block, moving away from the assembled block on the stand."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface, staying out of contact with the block during movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cubic block on the dark table surface, closing fingers and adjusting finger positions to establish a grip on the block which remains supported by the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and transports it upward and leftward to the position directly above the stacked objects on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the green block downward, adjusting alignment to place it steadily on top of the rightmost white cylindrical object on the tray, until the block is supported by the cylinder."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green block, beginning to move away from the placed object."}], "episode_index": 27}
+{"source_uid": "f78b0bc2db76e285", "num_frames": 2326, "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 bends its extended index finger to align with other fingers in a relaxed semi-bent position, with no significant wrist movement, and does not contact any object. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "goal", "start_step": 0, "end_step": 153, "id": "eacaaa45-f733-4f63-9aff-5bbb079b20fd"}, {"label": "valid", "start_step": 0, "end_step": 2299, "id": "ssKl6ARK8Fi3CExsp2klD"}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, closes its fingers around the nut to establish a grip, with the nut remaining supported by the table."}, {"label": "goal", "start_step": 154, "end_step": 291, "id": "189704d9-7490-45e3-9693-e91310dcbb63"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above a purple vertical rod on the assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand adjusts the orientation and position of the green hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: press_release: Right hand applies downward pressure to the white cylindrical sleeve on the rightmost purple peg to seat it fully on the peg, opening fingers to release the sleeve as the motion completes."}, {"label": "goal", "start_step": 292, "end_step": 375, "id": "9b390cdc-c581-46a0-90f5-3c5d72d4f073"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward and leftward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers and adjusts contact positions to form a stable grasp while the nut remains supported by the table surface."}, {"label": "goal", "start_step": 376, "end_step": 516, "id": "f6fc6632-702d-4e43-af55-39c1a0180f6f"}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg, making small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut on the table in front of the base, with fingers open and no contact with the nut."}, {"label": "goal", "start_step": 517, "end_step": 612, "id": "d62712ad-c121-441d-87b3-1e6eeb962363"}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut."}, {"label": "goal", "start_step": 613, "end_step": 765, "id": "32622bfe-738c-4455-a838-ba086b3e2118"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | 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": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut on the purple peg."}, {"label": "goal", "start_step": 766, "end_step": 873, "id": "cd84fab7-6d66-4c64-bc9a-b948672cb1e1"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal nut on the table in front of the wooden base, with fingers extended."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers close and make small adjustments to establish a grasp on the nut."}, {"label": "goal", "start_step": 874, "end_step": 993, "id": "1d1e8403-93e8-4486-98e5-d7c000d6637e"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal nut horizontally toward the purple vertical rod on the wooden base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple vertical rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the green hexagonal block on the dark table surface without making contact."}, {"label": "goal", "start_step": 994, "end_step": 1164, "id": "e4fbfade-099a-48bd-aaa8-f5c0fefe93bf"}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and contact points to establish a stable grasp, with the block remaining stationary on the table surface."}, {"label": "goal", "start_step": 1165, "end_step": 1272, "id": "d5728f9f-a8a3-4cbc-97aa-ef9f0cac6d11"}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward and forward toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "goal", "start_step": 1273, "end_step": 1368, "id": "9a905ae8-fb70-47a0-9c7e-9a9c6893ed56"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers and adjusts contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block on the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "goal", "start_step": 1369, "end_step": 1515, "id": "2e0129b2-0fe3-4fe8-8897-3ca194f1915b"}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully off the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple rod mounted on the small wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand releases the upper white stacked block on the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1516, "end_step": 1596, "id": "95130b7e-0a86-42e6-b790-bf055f4db00d"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making slight contact adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1597, "end_step": 1749, "id": "9d2b053e-a50f-45bf-8c62-5b4a7ab1aaff"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, nesting it into position on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving fingers away from the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves rightward and downward from the area near the stacked blocks on the wooden tray, approaching the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1750, "end_step": 1875, "id": "566577b3-cc30-4d87-8ca5-a374abf59593"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand grips the white hexagonal nut and moves upward, lifting the nut partially off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the small white and green block resting on the black table surface."}, {"label": "goal", "start_step": 1876, "end_step": 2031, "id": "460a473a-c58d-4bf4-8965-aceaf6349727"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped block fully off the table surface and transports it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the held block to place it onto the empty slot on the wooden holder, where the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand makes slight position and orientation adjustments to the block to align it with the slot and presses it down to fully insert the block into the slot."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release_retreat: Right hand opens its fingers to release the fully inserted block and moves slightly away from the wooden block holder."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the area near the stacked white bottles toward the green cubic block on the black table surface, fingers extended while approaching the target."}, {"label": "goal", "start_step": 2032, "end_step": 2103, "id": "25f39590-de1f-4c1d-8892-4368e44c21d1"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small adjustments to finger positions to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green and white block steadily on the dark table surface without moving."}, {"label": "goal", "start_step": 2104, "end_step": 2256, "id": "762e9e81-9661-4045-a14a-204b1366623b"}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the held green and white block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand carries the lifted green and white block up and left toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the held green and white block with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the aligned green and white block down into the slot until the block rests stably on the wooden rack."}, {"label": "home", "start_step": 2300, "end_step": 2325, "id": "7ttYIS8n21P4f6HQfqh56"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand bends its extended index finger to align with other fingers in a relaxed semi-bent position, with no significant wrist movement, and does not contact any object. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, closes its fingers around the nut to establish a grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above a purple vertical rod on the assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand adjusts the orientation and position of the green hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: press_release: Right hand applies downward pressure to the white cylindrical sleeve on the rightmost purple peg to seat it fully on the peg, opening fingers to release the sleeve as the motion completes."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward and leftward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers and adjusts contact positions to form a stable grasp while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg, making small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut on the table in front of the base, with fingers open and no contact with the nut."}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | 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": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal nut on the table in front of the wooden base, with fingers extended."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers close and make small adjustments to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal nut horizontally toward the purple vertical rod on the wooden base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple vertical rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the green hexagonal block on the dark table surface without making contact."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and contact points to establish a stable grasp, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward and forward toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers and adjusts contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block on the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully off the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple rod mounted on the small wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand releases the upper white stacked block on the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making slight contact adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, nesting it into position on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving fingers away from the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves rightward and downward from the area near the stacked blocks on the wooden tray, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand grips the white hexagonal nut and moves upward, lifting the nut partially off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the small white and green block resting on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped block fully off the table surface and transports it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the held block to place it onto the empty slot on the wooden holder, where the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand makes slight position and orientation adjustments to the block to align it with the slot and presses it down to fully insert the block into the slot."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release_retreat: Right hand opens its fingers to release the fully inserted block and moves slightly away from the wooden block holder."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the area near the stacked white bottles toward the green cubic block on the black table surface, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small adjustments to finger positions to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green and white block steadily on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the held green and white block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand carries the lifted green and white block up and left toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the held green and white block with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the aligned green and white block down into the slot until the block rests stably on the wooden rack."}], "episode_index": 28}
+{"source_uid": "e5846638ba0768b1", "num_frames": 2653, "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 desktop without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the desktop in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 189, "id": "64752606-1691-4141-9c10-bebf9cbc8380"}, {"label": "valid", "start_step": 0, "end_step": 2623, "id": "Q4Ew9he8ca4yky_vPN9iD"}, {"label": "subtasks", "start_step": 90, "end_step": 217, "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 contacts the green hexagonal block, fingers close and adjust to establish a stable grasp."}, {"label": "goal", "start_step": 190, "end_step": 321, "id": "00d5ef2c-9e52-4a21-a9de-d5ec6dcf2626"}, {"label": "subtasks", "start_step": 218, "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 cube from the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "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 cube with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green cube that has been fitted onto the purple peg."}, {"label": "goal", "start_step": 322, "end_step": 396, "id": "9433130c-8d38-420d-b63e-729b421ea057"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00008", "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 hexagonal block on the table."}, {"label": "goal", "start_step": 397, "end_step": 612, "id": "43958c2b-12d7-435d-9681-4ec99e69876e"}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "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 transports it towards the wooden base with purple posts."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "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 of the wooden base at the center of the table."}, {"label": "goal", "start_step": 613, "end_step": 699, "id": "503bb27a-17f3-41e6-8205-7cc9d2f7dddd"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00013", "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 black table surface."}, {"label": "goal", "start_step": 700, "end_step": 849, "id": "9bad341b-795b-4335-b81a-49479a9e0a79"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "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 transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "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 rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00016", "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 down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00017", "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 rod without moving."}, {"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 desktop without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 850, "end_step": 948, "id": "4801b3a7-79eb-4978-a9f3-e922aaf98ea1"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "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 ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00020", "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 ring on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 949, "end_step": 1065, "id": "9c95d88a-5fed-4e35-b2e5-1dbc609c8991"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00022", "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 on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden peg base toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1066, "end_step": 1131, "id": "fad44346-a929-4276-a0e8-b891a49e89b3"}, {"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 desktop without moving. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 1132, "end_step": 1725, "id": "6e38d8d5-1ee2-49ee-914e-2431d5dc3e29"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00025", "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 off the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00026", "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 hexagonal block to the area above the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1687, "id": "reasoning-language-00027", "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 white peg and pushes it downward to assemble onto the peg."}, {"label": "subtasks", "start_step": 1688, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block from grasp."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves upward and away from the wooden peg base after releasing the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1726, "end_step": 1803, "id": "ed6627f7-0c0d-466c-8fd0-23506f9d078d"}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00031", "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 black table."}, {"label": "goal", "start_step": 1804, "end_step": 1929, "id": "575123ea-7e4b-4cef-9bbf-c490a07b4347"}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00032", "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 off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00033", "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 over the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00034", "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 hollow cylinder downward along the purple peg to fit it tightly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00035", "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 hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00036", "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 cylindrical block onto the top of the green block on the wooden base."}, {"label": "goal", "start_step": 1930, "end_step": 2004, "id": "9978a747-8681-4f1a-b908-2350f4d55eed"}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00038", "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 table."}, {"label": "goal", "start_step": 2005, "end_step": 2154, "id": "5af6ce17-26b8-4e99-920c-131edf433f27"}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00039", "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 transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00040", "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 with the purple rod by inserting it downwards along the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "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 that is fitted on the purple rod."}, {"label": "goal", "start_step": 2155, "end_step": 2214, "id": "d28ce08d-84dc-4871-85ac-9fb513c0bff4"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "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 its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2215, "end_step": 2382, "id": "c6967a3d-149a-420c-8d43-e9ecf4f9fff1"}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand lowers and places the white hexagonal block onto the purple peg."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "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 block with purple top on the wooden base, fingers separate from the block."}, {"label": "goal", "start_step": 2383, "end_step": 2451, "id": "f9a5f03a-58ce-4974-8d15-9f5353d1a2f7"}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and rightward toward the green block on the black table surface, not contacting the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2481, "id": "reasoning-language-00050", "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 contact and grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2452, "end_step": 2589, "id": "427fbca6-1899-4b0f-8b15-d2de0fb819d6"}, {"label": "subtasks", "start_step": 2482, "end_step": 2527, "id": "reasoning-language-00051", "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 block off the table and transports it towards the white cylinder on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00052", "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 block with the top of the target white cylinder and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "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 block, with fingers opening to separate from the block."}, {"label": "home", "start_step": 2624, "end_step": 2652, "id": "KOTQpKHpImT7EqWBzrcyJ"}], "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 desktop without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the desktop in front of the wooden peg base."}, {"label": "subtasks", "start_step": 90, "end_step": 217, "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 contacts the green hexagonal block, fingers close and adjust to establish a stable grasp."}, {"label": "subtasks", "start_step": 218, "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 cube from the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "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 cube with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green cube that has been fitted onto the purple peg."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00008", "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 hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "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 transports it towards the wooden base with purple posts."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "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 of the wooden base at the center of the table."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00013", "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 black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "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 transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "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 rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00016", "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 down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00017", "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 rod without moving."}, {"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 desktop without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "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 ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00020", "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 ring on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00022", "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 on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden peg base toward the green hexagonal block on the black table."}, {"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 desktop without moving. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00025", "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 off the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00026", "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 hexagonal block to the area above the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1687, "id": "reasoning-language-00027", "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 white peg and pushes it downward to assemble onto the peg."}, {"label": "subtasks", "start_step": 1688, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block from grasp."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves upward and away from the wooden peg base after releasing the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00031", "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 black table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00032", "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 off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00033", "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 over the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00034", "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 hollow cylinder downward along the purple peg to fit it tightly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00035", "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 hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00036", "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 cylindrical block onto the top of the green block on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00038", "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 table."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00039", "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 transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00040", "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 with the purple rod by inserting it downwards along the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "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 its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand lowers and places the white hexagonal block onto the purple peg."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "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 block with purple top on the wooden base, fingers separate from the block."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and rightward toward the green block on the black table surface, not contacting the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2481, "id": "reasoning-language-00050", "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 contact and grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2482, "end_step": 2527, "id": "reasoning-language-00051", "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 block off the table and transports it towards the white cylinder on the right side of the wooden tray."}, {"label": "subtasks", "start_step": 2528, "end_step": 2579, "id": "reasoning-language-00052", "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 block with the top of the target white cylinder and fits it onto the cylinder."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "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 block, with fingers opening to separate from the block."}], "episode_index": 29}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1eb7a0c01d888b179c4438eabf922eef71c32bc5
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,30 @@
+{"source_uid": "3587efb2f2155e8b", "num_frames": 3668, "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": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the left area of the black table."}, {"label": "goal", "start_step": 0, "end_step": 244, "id": "c8504240-d30c-49f5-b1dc-3f3d3bb420b7"}, {"label": "valid", "start_step": 0, "end_step": 3637, "id": "BKxCyKT8frMboUHd9Zf8N"}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 245, "end_step": 601, "id": "331f5c91-b623-44d0-9b41-cbdf0955aaa4"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and lowers it onto the peg to complete initial fitting."}, {"label": "subtasks", "start_step": 338, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats upward and away from the leftmost peg while remaining empty."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple peg on the wooden base."}, {"label": "goal", "start_step": 603, "end_step": 724, "id": "b455cd65-f47a-48df-bdba-9c1af2df60be"}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 725, "end_step": 986, "id": "fef16ce4-0dca-458f-a140-fc4c44dfb36a"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the front-left purple peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base, with fingers opening from a closed grasping position."}, {"label": "goal", "start_step": 987, "end_step": 1114, "id": "45833f5c-9e72-4211-8cc8-777da6c0885f"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1115, "end_step": 1282, "id": "97251b56-af22-4e8c-8f33-007e49b50c80"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the black table and moves it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod on the wooden rack and slides it down the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the leftmost purple rod without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand adjusts the white block to fit it onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 1283, "end_step": 1418, "id": "66527a7b-5cbc-4abb-a30f-01bf7ba743af"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the rightmost peg, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table near the wooden rack, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1419, "end_step": 1628, "id": "1958be24-05cd-424f-be45-258bb8ab61c2"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and moves it downward to fit the piece onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 1629, "end_step": 1756, "id": "e3735b9b-ca75-4072-a24e-644a6c673352"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1757, "end_step": 2348, "id": "d6901964-0e7c-4c8f-ae32-107c1af92f48"}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical peg on the wooden rack and moves it downward along the peg to complete the insertion assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_upward_along_peg: Right hand holds the green hexagonal block and slides it slightly upward along the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_downward_along_peg: Right hand holds the green hexagonal block and slides it downward along the vertical peg on the wooden rack to the final assembly position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 2349, "end_step": 2466, "id": "ea5f84a7-2fd9-48e0-9ba3-bf7ecd68db2a"}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "goal", "start_step": 2467, "end_step": 2664, "id": "38b274ef-3228-4201-87d9-763dd033008c"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table surface and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 2542, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple peg of the wooden board, aligning the inner hole with the peg and pressing it down."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white ring onto the green post on the wooden base."}, {"label": "goal", "start_step": 2665, "end_step": 2788, "id": "d6280c82-1826-4393-8a29-60aceb3e7c4e"}, {"label": "subtasks", "start_step": 2678, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring on the green post, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2692, "end_step": 2737, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the right side of the table without moving."}, {"label": "goal", "start_step": 2789, "end_step": 2980, "id": "67b12c5d-ded9-4927-90e2-73912cb7ff3d"}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white annular block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2842, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white annular block with the purple rod, moving the block downward along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3014, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: pull_release: Right hand pulls the purple peg upward along the hole of the white block on the wooden base and releases the peg."}, {"label": "goal", "start_step": 2981, "end_step": 3088, "id": "bf01b6bd-2a69-4604-9506-275d85e29b72"}, {"label": "subtasks", "start_step": 3015, "end_step": 3051, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 3052, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "goal", "start_step": 3089, "end_step": 3302, "id": "fdeb84ef-6d3d-4b16-833e-845056f1c269"}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white ring-shaped block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3157, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white ring-shaped block leftward and upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3158, "end_step": 3261, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white ring-shaped block with the purple rod by aligning the hole and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring-shaped block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 3300, "end_step": 3321, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the top of the white bottle with green band on the wooden tray."}, {"label": "goal", "start_step": 3303, "end_step": 3444, "id": "0246636d-4aaf-4e22-b45e-2629cfd4baa6"}, {"label": "subtasks", "start_step": 3322, "end_step": 3367, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3389, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting and closing around the cube to form a stable grip."}, {"label": "goal", "start_step": 3445, "end_step": 3604, "id": "f7495b51-b599-4a17-8c66-e50ad316c827"}, {"label": "subtasks", "start_step": 3472, "end_step": 3524, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the dark table surface and moves it leftward to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 3525, "end_step": 3569, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost column and lowers it to fit onto the column."}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green cube downward along the column to secure it in place."}, {"label": "home", "start_step": 3638, "end_step": 3667, "id": "_-X_PNOCQTHkL1WiMhbKb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the left area of the black table."}, {"label": "subtasks", "start_step": 135, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it to the position above the leftmost peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and lowers it onto the peg to complete initial fitting."}, {"label": "subtasks", "start_step": 338, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the leftmost peg to push it to the lower part of the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the green hexagonal block on the leftmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: retreat: Right hand retreats upward and away from the leftmost peg while remaining empty."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it leaves the black table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the front-left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the white hexagonal block downward along the front-left purple peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple peg of the wooden base, with fingers opening from a closed grasping position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal piece on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1035, "end_step": 1131, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the black table and moves it toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 1155, "end_step": 1259, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal block with the leftmost purple rod on the wooden rack and slides it down the rod."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the leftmost purple rod without any movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand adjusts the white block to fit it onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white block on the rightmost peg, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table near the wooden rack, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the white hexagonal piece with the purple peg and moves it downward to fit the piece onto the peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the middle purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1778, "end_step": 1791, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the green hexagonal block off the black table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 2174, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical peg on the wooden rack and moves it downward along the peg to complete the insertion assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_upward_along_peg: Right hand holds the green hexagonal block and slides it slightly upward along the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: other:slide_downward_along_peg: Right hand holds the green hexagonal block and slides it downward along the vertical peg on the wooden rack to the final assembly position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 2362, "end_step": 2414, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2444, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal piece from the table surface and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 2542, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal piece onto the purple peg of the wooden board, aligning the inner hole with the peg and pressing it down."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal piece on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: place: Right hand places the white ring onto the green post on the wooden base."}, {"label": "subtasks", "start_step": 2678, "end_step": 2691, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring on the green post, with fingers opening and separating from the ring."}, {"label": "subtasks", "start_step": 2692, "end_step": 2737, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand reaches toward the white ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white ring on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the right side of the table without moving."}, {"label": "subtasks", "start_step": 2812, "end_step": 2841, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the white annular block off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2842, "end_step": 2924, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white annular block with the purple rod, moving the block downward along the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2969, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the white annular block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3014, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: pull_release: Right hand pulls the purple peg upward along the hole of the white block on the wooden base and releases the peg."}, {"label": "subtasks", "start_step": 3015, "end_step": 3051, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 3052, "end_step": 3111, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 3112, "end_step": 3127, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift: Right hand lifts the white ring-shaped block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3157, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: transport: Right hand transports the white ring-shaped block leftward and upward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3158, "end_step": 3261, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand mates the white ring-shaped block with the purple rod by aligning the hole and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 3262, "end_step": 3299, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: release: Right hand releases the white ring-shaped block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 3300, "end_step": 3321, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the top of the white bottle with green band on the wooden tray."}, {"label": "subtasks", "start_step": 3322, "end_step": 3367, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3368, "end_step": 3389, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to fit into the block's hole."}, {"label": "subtasks", "start_step": 3390, "end_step": 3434, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"label": "subtasks", "start_step": 3435, "end_step": 3471, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting and closing around the cube to form a stable grip."}, {"label": "subtasks", "start_step": 3472, "end_step": 3524, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the dark table surface and moves it leftward to the position above the rightmost column on the wooden base."}, {"label": "subtasks", "start_step": 3525, "end_step": 3569, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: mate: Right hand aligns the green cube with the top of the rightmost column and lowers it to fit onto the column."}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the left side of the black table without moving. | Right hand: press: Right hand presses the green cube downward along the column to secure it in place."}], "episode_index": 0}
+{"source_uid": "0a7b26010f5ff7e8", "num_frames": 3862, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white block mounted on the front-left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 212, "id": "9a40298d-496a-4172-922a-760d37a4ce56"}, {"label": "valid", "start_step": 0, "end_step": 3833, "id": "MhwOboN31ItjcMCWw4tHr"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "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 form a stable grasp on the white block on the front-left purple rod."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the grasped white block downward along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the table next to the wooden base."}, {"label": "goal", "start_step": 213, "end_step": 444, "id": "548527df-0809-4435-9a92-15b1287ae93a"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "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 green block up off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "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 green block to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it onto the post initially."}, {"label": "subtasks", "start_step": 308, "end_step": 434, "id": "reasoning-language-00008", "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 post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "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 block on the purple rod of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 445, "end_step": 622, "id": "c74871fe-dd65-4d42-990d-623a5c112b4d"}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00010", "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 white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 689, "id": "reasoning-language-00011", "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, with fingers closing to adjust and form a stable grip."}, {"label": "goal", "start_step": 623, "end_step": 1290, "id": "aaf19681-849e-4bf0-9a60-4a30690bfccb"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00013", "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": 862, "end_step": 884, "id": "reasoning-language-00014", "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, which falls onto the tabletop."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00015", "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 another white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00017", "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 moves it towards another purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1289, "id": "reasoning-language-00018", "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": 1290, "end_step": 1319, "id": "reasoning-language-00019", "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 ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 1291, "end_step": 1418, "id": "01d9888a-1e96-42c3-aa54-78e7710d5575"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00020", "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."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00021", "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 with fingers closing around the block."}, {"label": "goal", "start_step": 1419, "end_step": 1578, "id": "b05cdd6d-8b0f-4541-a529-26af717263c9"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "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 rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00023", "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": 1575, "end_step": 1589, "id": "reasoning-language-00024", "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": 1579, "end_step": 1716, "id": "eac91812-7c0d-4fbc-a794-c06dfacd26d5"}, {"label": "subtasks", "start_step": 1590, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: press: Right hand presses the white block onto the post of the wooden base to secure it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1671, "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 toward the white block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "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 closes its fingers to grasp the white block on the table next to the wooden base."}, {"label": "goal", "start_step": 1717, "end_step": 1946, "id": "e5b9504a-6447-4e0a-893e-3cab0cf3ab2e"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "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 white cylindrical object off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1897, "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 aligns the white cylindrical object with the purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00030", "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 object by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00031", "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 cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1947, "end_step": 2052, "id": "0c5f3f17-777b-42a1-9dd1-ddf797717c80"}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00032", "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 block placed on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00033", "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 block on the black table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 2053, "end_step": 2224, "id": "397ac6e5-46b8-49f5-b1c7-b7d10646a4bf"}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00034", "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 from the tabletop and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00035", "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 with the target peg by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00036", "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": "goal", "start_step": 2225, "end_step": 2346, "id": "e8228060-eaef-48f5-9031-0045273e5735"}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00037", "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 cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 2347, "end_step": 2822, "id": "8df32985-f203-4418-8170-8c439dbf9253"}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00039", "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 object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00040", "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 cylindrical object with the purple rod on the wooden base, aligning the cylinder's hole with the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2729, "id": "reasoning-language-00041", "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 cylindrical object down along the purple rod until it fits firmly in place."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00042", "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 object, fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats slightly away from the white cylindrical object on the purple rod."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00044", "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 cylindrical object on the purple rod again to adjust its position slightly."}, {"label": "subtasks", "start_step": 2820, "end_step": 2841, "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 releases the white cylinder on the wooden base."}, {"label": "goal", "start_step": 2823, "end_step": 2944, "id": "f676a63d-d560-4904-a6f7-1c52edefd997"}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "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 reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "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 grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "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 white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2940, "end_step": 2977, "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 adjusts its grasp on the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 2945, "end_step": 3122, "id": "1f0cd35a-8f9e-4467-b948-4fadbc55c8d2"}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "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: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00051", "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 cylindrical block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00052", "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 cylindrical block onto the purple rod by aligning and sliding it down."}, {"label": "subtasks", "start_step": 3112, "end_step": 3119, "id": "reasoning-language-00053", "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 from its grasp and moves slightly away."}, {"label": "subtasks", "start_step": 3120, "end_step": 3141, "id": "reasoning-language-00054", "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 cylinder on the front-right position of the wooden base."}, {"label": "goal", "start_step": 3123, "end_step": 3226, "id": "04103b2f-9b4b-42eb-b965-19fecdc707fb"}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00055", "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 hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hollow block on the black table surface."}, {"label": "goal", "start_step": 3227, "end_step": 3526, "id": "7a1deeaa-5601-49d9-b96e-f99e47182274"}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00057", "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 cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3329, "id": "reasoning-language-00058", "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 cylindrical object towards the tube rack on the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3517, "id": "reasoning-language-00059", "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 cylindrical object onto the corresponding pin of the tube rack."}, {"label": "subtasks", "start_step": 3518, "end_step": 3524, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical object and slightly retreats upwards."}, {"label": "subtasks", "start_step": 3525, "end_step": 3554, "id": "reasoning-language-00061", "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 purple protrusion on top of the white bottle placed on the wooden base."}, {"label": "goal", "start_step": 3527, "end_step": 3646, "id": "801b38f6-a302-4654-8c71-5f8c827dc1f3"}, {"label": "subtasks", "start_step": 3555, "end_step": 3599, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 3600, "end_step": 3667, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the table surface."}, {"label": "goal", "start_step": 3647, "end_step": 3796, "id": "04fb2c54-60af-4f0f-be83-749762c1186f"}, {"label": "subtasks", "start_step": 3668, "end_step": 3704, "id": "reasoning-language-00064", "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 towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3705, "end_step": 3794, "id": "reasoning-language-00065", "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 white bottle with purple top and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green block which is already fitted onto the white bottle."}, {"label": "home", "start_step": 3834, "end_step": 3861, "id": "X4SX5ZIbiLWh9T6HdCDqf"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the white block mounted on the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "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 form a stable grasp on the white block on the front-left purple rod."}, {"label": "subtasks", "start_step": 142, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the grasped white block downward along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "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 green block up off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "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 green block to the position above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it onto the post initially."}, {"label": "subtasks", "start_step": 308, "end_step": 434, "id": "reasoning-language-00008", "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 post until it reaches the bottom position."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00009", "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 block on the purple rod of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00010", "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 white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 532, "end_step": 689, "id": "reasoning-language-00011", "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, with fingers closing to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 861, "id": "reasoning-language-00013", "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": 862, "end_step": 884, "id": "reasoning-language-00014", "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, which falls onto the tabletop."}, {"label": "subtasks", "start_step": 885, "end_step": 989, "id": "reasoning-language-00015", "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 another white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 990, "end_step": 1057, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00017", "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 moves it towards another purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1289, "id": "reasoning-language-00018", "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": 1290, "end_step": 1319, "id": "reasoning-language-00019", "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 ring onto the purple peg on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00020", "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."}, {"label": "subtasks", "start_step": 1358, "end_step": 1447, "id": "reasoning-language-00021", "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 with fingers closing around the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "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 rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1574, "id": "reasoning-language-00023", "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": 1575, "end_step": 1589, "id": "reasoning-language-00024", "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": 1590, "end_step": 1604, "id": "reasoning-language-00025", "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 block onto the post of the wooden base to secure it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1671, "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 toward the white block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "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 closes its fingers to grasp the white block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "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 white cylindrical object off the table and transports it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1897, "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 aligns the white cylindrical object with the purple peg on the wooden rack and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00030", "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 object by opening its fingers, separating from the object."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00031", "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 cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2009, "id": "reasoning-language-00032", "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 block placed on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00033", "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 block on the black table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00034", "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 from the tabletop and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2219, "id": "reasoning-language-00035", "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 with the target peg by aligning the hole and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00036", "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": 2250, "end_step": 2287, "id": "reasoning-language-00037", "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 cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2377, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00039", "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 object off the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00040", "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 cylindrical object with the purple rod on the wooden base, aligning the cylinder's hole with the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2729, "id": "reasoning-language-00041", "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 cylindrical object down along the purple rod until it fits firmly in place."}, {"label": "subtasks", "start_step": 2730, "end_step": 2744, "id": "reasoning-language-00042", "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 object, fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: retreat: Right hand retreats slightly away from the white cylindrical object on the purple rod."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00044", "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 cylindrical object on the purple rod again to adjust its position slightly."}, {"label": "subtasks", "start_step": 2820, "end_step": 2841, "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 releases the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2842, "end_step": 2879, "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 reaches towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "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 grasps the white hexagonal block on the black table with fingers closing."}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "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 white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2940, "end_step": 2977, "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 adjusts its grasp on the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2978, "end_step": 2991, "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: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2992, "end_step": 3029, "id": "reasoning-language-00051", "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 cylindrical block above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3030, "end_step": 3111, "id": "reasoning-language-00052", "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 cylindrical block onto the purple rod by aligning and sliding it down."}, {"label": "subtasks", "start_step": 3112, "end_step": 3119, "id": "reasoning-language-00053", "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 from its grasp and moves slightly away."}, {"label": "subtasks", "start_step": 3120, "end_step": 3141, "id": "reasoning-language-00054", "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 cylinder on the front-right position of the wooden base."}, {"label": "subtasks", "start_step": 3142, "end_step": 3201, "id": "reasoning-language-00055", "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 hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 3202, "end_step": 3261, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 3262, "end_step": 3277, "id": "reasoning-language-00057", "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 cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 3278, "end_step": 3329, "id": "reasoning-language-00058", "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 cylindrical object towards the tube rack on the table."}, {"label": "subtasks", "start_step": 3330, "end_step": 3517, "id": "reasoning-language-00059", "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 cylindrical object onto the corresponding pin of the tube rack."}, {"label": "subtasks", "start_step": 3518, "end_step": 3524, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white cylindrical object and slightly retreats upwards."}, {"label": "subtasks", "start_step": 3525, "end_step": 3554, "id": "reasoning-language-00061", "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 purple protrusion on top of the white bottle placed on the wooden base."}, {"label": "subtasks", "start_step": 3555, "end_step": 3599, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down and right toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 3600, "end_step": 3667, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cube on the table surface."}, {"label": "subtasks", "start_step": 3668, "end_step": 3704, "id": "reasoning-language-00064", "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 towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3705, "end_step": 3794, "id": "reasoning-language-00065", "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 white bottle with purple top and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release: Right hand opens its fingers to release the green block which is already fitted onto the white bottle."}], "episode_index": 1}
+{"source_uid": "cb07c6e3febc31de", "num_frames": 3384, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious arm displacement toward the target."}, {"label": "goal", "start_step": 0, "end_step": 230, "id": "f740ae66-cae7-4dc3-bcbc-6e5e80198c9c"}, {"label": "valid", "start_step": 0, "end_step": 3353, "id": "gEUfCqqyHHNdbJvcmt0BX"}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack with open fingers, approaching the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grasp on the object."}, {"label": "goal", "start_step": 231, "end_step": 458, "id": "dff316f6-a88a-406b-9f5e-4bae863143e2"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position it above the target purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and slides the block downward along the peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the leftmost peg of the wooden rack."}, {"label": "goal", "start_step": 459, "end_step": 600, "id": "41918e99-625e-4d4a-a7ec-5c14dbc742ec"}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table near the wooden rack, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger adjustments to establish a grasp on the block."}, {"label": "goal", "start_step": 601, "end_step": 878, "id": "6d36cd2d-4e45-4eb0-9bb0-c054de8047ba"}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table support surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden base, moving the nut directly above the target purple post."}, {"label": "subtasks", "start_step": 675, "end_step": 869, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple post, then moves the nut downward to nest it onto the post with small fine-tuning adjustments."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg on the wooden base and releases the block by opening fingers."}, {"label": "goal", "start_step": 879, "end_step": 988, "id": "85705e12-80d1-4c94-ba0f-d7bb1b776a30"}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the front-left white hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 1057, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making small adjustments to secure contact with the block."}, {"label": "goal", "start_step": 989, "end_step": 1202, "id": "3524b26c-78cb-4194-96b4-9ec28c325e28"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the wooden block, fits the nut onto the post while making minor positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod on the wooden base to seat it on the lower white block, releasing its grasp on the block."}, {"label": "goal", "start_step": 1203, "end_step": 1336, "id": "3ce42be7-828a-4851-a925-60303ddf77a0"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no observable movement of the hand, fingers or the block."}, {"label": "goal", "start_step": 1337, "end_step": 1516, "id": "5eacb638-f167-4156-a2f3-4014f305a029"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and fits the cylinder down onto the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the fitted white hexagonal cylinder on the purple rod of the wooden base without moving."}, {"label": "goal", "start_step": 1517, "end_step": 1628, "id": "2eedab66-2157-4ee8-bf23-a6c92676c608"}, {"label": "subtasks", "start_step": 1530, "end_step": 1537, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the purple peg downward, holding the block at a lower position on the peg."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward away from the wooden assembly base toward the green hexagonal block on the table surface, with fingers held open, not yet contacting the target block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger contact positions to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "goal", "start_step": 1629, "end_step": 1996, "id": "116650ee-655e-4e69-ab60-4d61052ca0b6"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to the position directly above the target purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block slightly to partially fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1911, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the partially fitted green hexagonal block on the purple rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod until the block rests stably on the top surface of the white hexagonal block below."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical piece seated on the purple peg of the wooden pegboard, moving slightly away from the placed piece."}, {"label": "goal", "start_step": 1997, "end_step": 2130, "id": "1dd7a028-18ec-4e5b-9e11-8997ef2487d9"}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the frontmost white hexagonal nut on the black table surface, staying empty as it approaches the target nut."}, {"label": "subtasks", "start_step": 2062, "end_step": 2151, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closing fingers and adjusting finger positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 2131, "end_step": 2394, "id": "14acbfaf-08f6-4cbe-997a-28cc04ef676a"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface and transports it upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2384, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical peg, making small positional and rotational adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden stacking base, fingers opening to separate from the block."}, {"label": "goal", "start_step": 2395, "end_step": 2524, "id": "ef4d0d29-499a-43ea-b801-3a213a4a174b"}, {"label": "subtasks", "start_step": 2408, "end_step": 2467, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downwards and rightwards across the table surface, approaching the small white hexagonal nut placed next to the wooden stacking base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2519, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut next to the stacking base, fingers closing and making small adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table adjacent to the wooden assembly rack without moving."}, {"label": "goal", "start_step": 2525, "end_step": 2690, "id": "259eec4d-f8d4-4578-8b00-4c9bcfdcd686"}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to nest the nut onto the rod to establish the assembly fit."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple rod without moving."}, {"label": "goal", "start_step": 2691, "end_step": 2782, "id": "de2c1b3e-6bd4-48dd-97d6-c47da5341cd8"}, {"label": "subtasks", "start_step": 2708, "end_step": 2751, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a grasp on the object."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white cylindrical object resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2783, "end_step": 2996, "id": "c35d1ae3-fd93-4ab4-89a3-1822935926b1"}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it to the position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2910, "end_step": 2984, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white cylindrical object on the wooden block set without moving."}, {"label": "subtasks", "start_step": 2985, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple cap of the white bottle on the wooden rack downward."}, {"label": "goal", "start_step": 2997, "end_step": 3118, "id": "428a273f-46d5-4eab-9f59-8e125c59a6a8"}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the bottle area toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 3068, "end_step": 3141, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making small adjustments to form a grasp."}, {"label": "goal", "start_step": 3119, "end_step": 3306, "id": "02f5c73d-5650-49f0-8288-a6ba3886966a"}, {"label": "subtasks", "start_step": 3142, "end_step": 3157, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the green block through the air toward the upper left, moving the block to the position directly above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3172, "end_step": 3314, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green block downward, adjusting its position to place the block steadily on top of the target white bottle until the block is supported by the bottle."}, {"label": "home", "start_step": 3354, "end_step": 3383, "id": "g1TlJ9A7Yhc3Dw56OFMJ3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace without obvious arm displacement toward the target."}, {"label": "subtasks", "start_step": 68, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves toward the green hexagonal block on the table in front of the wooden peg rack with open fingers, approaching the target object."}, {"label": "subtasks", "start_step": 165, "end_step": 321, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to establish a stable grasp on the object."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position it above the target purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and slides the block downward along the peg to fit it onto the peg."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens fingers to release the green block mounted on the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table near the wooden rack, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 540, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making slight finger adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is completely separated from the table support surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the wooden base, moving the nut directly above the target purple post."}, {"label": "subtasks", "start_step": 675, "end_step": 869, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple post, then moves the nut downward to nest it onto the post with small fine-tuning adjustments."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the purple peg on the wooden base and releases the block by opening fingers."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward across the table surface toward the front-left white hexagonal block."}, {"label": "subtasks", "start_step": 960, "end_step": 1057, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, making small adjustments to secure contact with the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward toward the purple post on the wooden assembly block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post on the wooden block, fits the nut onto the post while making minor positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple rod on the wooden base to seat it on the lower white block, releasing its grasp on the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the table directly in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal cylinder through the air toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and fits the cylinder down onto the rod."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the fitted white hexagonal cylinder on the purple rod of the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1537, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the top surface of the white hexagonal block on the purple peg downward, holding the block at a lower position on the peg."}, {"label": "subtasks", "start_step": 1538, "end_step": 1581, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward away from the wooden assembly base toward the green hexagonal block on the table surface, with fingers held open, not yet contacting the target block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger contact positions to form a stable grasp, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to the position directly above the target purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, and lowers the block slightly to partially fit onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1911, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the partially fitted green hexagonal block on the purple rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1994, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green hexagonal block along the purple rod until the block rests stably on the top surface of the white hexagonal block below."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical piece seated on the purple peg of the wooden pegboard, moving slightly away from the placed piece."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward and forward toward the frontmost white hexagonal nut on the black table surface, staying empty as it approaches the target nut."}, {"label": "subtasks", "start_step": 2062, "end_step": 2151, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the frontmost white hexagonal nut, closing fingers and adjusting finger positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface and transports it upward toward the purple vertical peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 2190, "end_step": 2384, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the held white hexagonal nut with the purple vertical peg, making small positional and rotational adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden stacking base, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2408, "end_step": 2467, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downwards and rightwards across the table surface, approaching the small white hexagonal nut placed next to the wooden stacking base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2519, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut next to the stacking base, fingers closing and making small adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2520, "end_step": 2549, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table adjacent to the wooden assembly rack without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and transports it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to nest the nut onto the rod to establish the assembly fit."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal nut nested on the purple rod without moving."}, {"label": "subtasks", "start_step": 2708, "end_step": 2751, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut placed on the dark table surface, approaching the target object."}, {"label": "subtasks", "start_step": 2752, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact points to establish a grasp on the object."}, {"label": "subtasks", "start_step": 2775, "end_step": 2811, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white cylindrical object resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2812, "end_step": 2864, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it to the position above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2865, "end_step": 2909, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 2910, "end_step": 2984, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the assembled white cylindrical object on the wooden block set without moving."}, {"label": "subtasks", "start_step": 2985, "end_step": 3021, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: press: Right hand presses the purple cap of the white bottle on the wooden rack downward."}, {"label": "subtasks", "start_step": 3022, "end_step": 3067, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward from the bottle area toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 3068, "end_step": 3141, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the green square block on the table, making small adjustments to form a grasp."}, {"label": "subtasks", "start_step": 3142, "end_step": 3157, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the green block through the air toward the upper left, moving the block to the position directly above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 3172, "end_step": 3314, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand lowers the green block downward, adjusting its position to place the block steadily on top of the target white bottle until the block is supported by the bottle."}], "episode_index": 2}
+{"source_uid": "558028d53b6d4781", "num_frames": 3077, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the white cylindrical part on the front-left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 286, "id": "402efd9e-7185-44d9-8ed0-80543eca1290"}, {"label": "valid", "start_step": 0, "end_step": 3047, "id": "gKEeEcpV6STc4-zdD-_Tf"}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white cylindrical part upward, separating it from the purple rod support."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: transport: Right hand carries the white cylindrical part downward and leftward to the position near the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: place: Right hand lowers the white cylindrical part onto the black table surface until it is fully supported by the table."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the black table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 287, "end_step": 574, "id": "8a3fde5b-e47a-4406-b8f8-c4252644bda4"}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the green block downward along the purple peg to push it further onto the rack."}, {"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 work table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 575, "end_step": 672, "id": "4bbcf2ff-cac9-4374-99c6-91f2c6f38751"}, {"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 work table without moving. | Right hand: reach: Right hand moves downward toward the upper-left white hexagonal block among the scattered blocks on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the upper-left white hexagonal block among the scattered blocks on the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 673, "end_step": 950, "id": "719ef104-55fa-4832-8261-8f1725e7eb5c"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully lifted off the supporting surface."}, {"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 work table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by aligning the inner hole and lowering the part down onto the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring part onto the leftmost purple peg and releases the part."}, {"label": "goal", "start_step": 951, "end_step": 1068, "id": "85846a25-6fa8-4d80-8bc0-49bead861603"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal part on the front-left of the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the front-left of the table, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1069, "end_step": 1262, "id": "bbabe418-e3a4-4f9b-b3f2-b78b3e50b766"}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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 purple pegs."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it into position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the purple vertical rod, with fingers gradually opening to detach from the block."}, {"label": "goal", "start_step": 1263, "end_step": 1382, "id": "28a1ea7d-5813-4e20-a4e5-14bbb4bca5d7"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left part of the table surface, without touching the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1383, "end_step": 1568, "id": "7dc3b1b9-8089-4c68-801d-78eb6b3bf04b"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and rightward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1507, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg of the wooden rack, aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 1569, "end_step": 1660, "id": "9871aa8b-d20a-4a5a-87f6-0d6cee93f6bf"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with fingers open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers closing."}, {"label": "goal", "start_step": 1661, "end_step": 1902, "id": "586af36c-3853-4a1e-9293-2acd5e61b221"}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green cubic block with a white peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1762, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the white peg without any observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1903, "end_step": 2012, "id": "6c08b902-cc38-49cb-9beb-a471dd3f9258"}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"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 work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2013, "end_step": 2188, "id": "aeb61bec-aeb2-4ab3-bd69-cdce56c44597"}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and transports it towards the wooden rack with stacked green and white parts."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the vertical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part fitted on the wooden rack post without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2189, "end_step": 2306, "id": "8909dfa9-5a6e-47ee-8613-9038ae161119"}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2307, "end_step": 2488, "id": "ae5ec0cf-b200-4a5c-bfba-ad2d5ceb9ffe"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the central hole and sliding it downwards along the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white component on the purple peg of the wooden base, with fingers gradually opening until separated from the component."}, {"label": "goal", "start_step": 2489, "end_step": 2560, "id": "69755226-ca1e-4211-8c95-4dcde74dc16f"}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal object on the table, keeping empty during movement."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table surface, with fingers closing and adjusting to form a grip."}, {"label": "goal", "start_step": 2561, "end_step": 2736, "id": "dd112957-e799-4224-b4e3-de039d81ccdd"}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2707, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack, fitting it down to the base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, fingers opening to separate from the object."}, {"label": "goal", "start_step": 2737, "end_step": 2828, "id": "d41ccdde-e76d-487c-9301-cebec0f1eaa1"}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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": "goal", "start_step": 2829, "end_step": 3010, "id": "94e57a89-8094-4236-abcb-4fb640a0586a"}, {"label": "subtasks", "start_step": 2858, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the dark table surface and transports it toward the white bottle with a purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the green ring onto the white bottle with a purple tip by aligning the ring's hole with the bottle and lowering it down."}, {"label": "subtasks", "start_step": 3000, "end_step": 3014, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening to separate from the ring."}, {"label": "home", "start_step": 3048, "end_step": 3076, "id": "SSoB45ZxilZf6XS6PPWdS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the white cylindrical part on the front-left purple rod of the wooden base."}, {"label": "subtasks", "start_step": 98, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white cylindrical part upward, separating it from the purple rod support."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: transport: Right hand carries the white cylindrical part downward and leftward to the position near the left green hexagonal block on the table."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: place: Right hand lowers the white cylindrical part onto the black table surface until it is fully supported by the table."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the black table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 338, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the wooden rack with purple pegs."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 569, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the green block downward along the purple peg to push it further onto the rack."}, {"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 work table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the leftmost purple peg of the wooden base and releases the block."}, {"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 work table without moving. | Right hand: reach: Right hand moves downward toward the upper-left white hexagonal block among the scattered blocks on the table."}, {"label": "subtasks", "start_step": 630, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the upper-left white hexagonal block among the scattered blocks on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward from the black table until the part is fully lifted off the supporting surface."}, {"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 work table without moving. | Right hand: transport: Right hand transports the white hexagonal part upward and rightward to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by aligning the inner hole and lowering the part down onto the peg."}, {"label": "subtasks", "start_step": 810, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 981, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring part onto the leftmost purple peg and releases the part."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal part on the front-left of the table."}, {"label": "subtasks", "start_step": 1005, "end_step": 1101, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the front-left of the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1102, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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 purple pegs."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and fits it onto the peg to establish assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to press it into position."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the purple vertical rod, with fingers gradually opening to detach from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left part of the table surface, without touching the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and rightward toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1432, "end_step": 1507, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the purple vertical peg of the wooden rack, aligning and lowering it into the assembled position."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the white ring onto the purple peg on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green hollow block on the table with fingers open."}, {"label": "subtasks", "start_step": 1628, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the table with fingers closing."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table and transports it toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the green cubic block with a white peg on the wooden board and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1762, "end_step": 1889, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the white peg without any observable movement."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 1971, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing."}, {"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 work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"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 work table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2069, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical part off the table and transports it towards the wooden rack with stacked green and white parts."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the vertical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 2108, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part fitted on the wooden rack post without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2294, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2295, "end_step": 2331, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the wooden rack, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2467, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple rod by aligning the central hole and sliding it downwards along the rod."}, {"label": "subtasks", "start_step": 2468, "end_step": 2474, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white component on the purple peg of the wooden base, with fingers gradually opening until separated from the component."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal object on the table, keeping empty during movement."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table surface, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2617, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2707, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack, fitting it down to the base."}, {"label": "subtasks", "start_step": 2708, "end_step": 2759, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the white cylindrical object on the purple rod, fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2857, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the work 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": 2858, "end_step": 2894, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the dark table surface and transports it toward the white bottle with a purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2895, "end_step": 2999, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: mate: Right hand mates the green ring onto the white bottle with a purple tip by aligning the ring's hole with the bottle and lowering it down."}, {"label": "subtasks", "start_step": 3000, "end_step": 3014, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the work table without moving. | Right hand: release: Right hand releases the green ring, with fingers opening to separate from the ring."}], "episode_index": 3}
+{"source_uid": "40a6633887d850a7", "num_frames": 3025, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial position to the left home position in front of the robot. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "goal", "start_step": 0, "end_step": 276, "id": "6b98ca57-f8be-4afb-90e8-193d12758481"}, {"label": "valid", "start_step": 0, "end_step": 2995, "id": "vbxbv3v9MxCKzb7pIED7K"}, {"label": "subtasks", "start_step": 38, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block to form a stable grasp, with the block resting on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the green hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 277, "end_step": 570, "id": "22d3c4a1-8816-4d13-ac6a-dffd12087600"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hexagonal hole of the green block with the purple peg, and lowers the block slightly to begin fitting it onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary above the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand lowers the green hexagonal block further along the purple peg until the block rests securely on the wooden base, completing the assembly fit."}, {"label": "goal", "start_step": 571, "end_step": 708, "id": "434697ee-a230-4842-a0c2-1e906ef4deb3"}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger contact positions around the white hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 709, "end_step": 891, "id": "4d1ac1a4-57b9-41a9-ba4d-eab679b4abd4"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the wooden base and makes small wrist and finger adjustments to lower the block onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the left purple peg of the wooden assembly board, releasing the block as the block rests securely on the peg."}, {"label": "goal", "start_step": 892, "end_step": 993, "id": "4e0af979-998f-42fa-9dbb-36c4e005c907"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned on the front area of the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the front table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "goal", "start_step": 994, "end_step": 1170, "id": "05ee0618-251f-4617-92c1-8840a029bd75"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface, moving it upward and horizontally toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1042, "end_step": 1169, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylinder with the top of the target purple peg on the wooden board, lowers the cylinder, and makes small positional adjustments to fit the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held white cylindrical block with the right purple rod on the wooden base, fits it onto the rod to complete assembly, opens fingers to release the block."}, {"label": "goal", "start_step": 1171, "end_step": 1311, "id": "6af5f53c-8185-4aa2-83ad-158269226072"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the nearby white hexagonal nut on the table surface while remaining empty."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, lifts the nut slightly off the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal nut in a fixed position without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white cylindrical block resting on the table next to the wooden peg base, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1312, "end_step": 1533, "id": "6fe46f28-e8d3-46c4-91d3-80c88081e468"}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block off the table surface and transports it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple peg, fits the block onto the peg, and moves the block downward along the peg to continue the assembly process."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cylinder, moves it downward to place it onto the purple peg on the wooden base until the cylinder is stably supported, opens fingers to release the cylinder."}, {"label": "goal", "start_step": 1534, "end_step": 1632, "id": "f6ec3008-7634-4fe6-b59d-765b3e027046"}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block adjacent to the wooden base on the black table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1633, "end_step": 1848, "id": "93e7bb6d-4597-45c5-979c-317010d26be5"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the area above the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1844, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | 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 to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden assembly stand, moving fingers away from the rod."}, {"label": "goal", "start_step": 1849, "end_step": 1959, "id": "329d42f9-6cb3-4e71-b94d-06d5a3d87dd8"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without visible movement or grip adjustment."}, {"label": "goal", "start_step": 1960, "end_step": 2136, "id": "248644ed-cd9a-4ef3-99c9-ff74320c425b"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the top white cylindrical block on the stacked block assembly, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 2137, "end_step": 2271, "id": "f03df407-4ac9-4287-945e-894fb41e52e8"}, {"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 any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table adjacent to the wooden block platform, remaining empty and not yet touching the block as it approaches."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes initial light contact with the white hexagonal block on the table, closes fingers around the block and makes small positional adjustments to form a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the small white cylindrical block placed on the table next to the wooden block holder."}, {"label": "goal", "start_step": 2272, "end_step": 2451, "id": "540b3586-99bc-403a-8f0d-8284dd9fd3ce"}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block to the position directly above the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2444, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod, moves it downward to nest onto the rod and complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, with fingers kept open."}, {"label": "goal", "start_step": 2452, "end_step": 2553, "id": "1468595a-134b-475e-9c95-707d40d385c1"}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closes fingers and makes small adjustments to form a grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylindrical object on the black table surface without moving."}, {"label": "goal", "start_step": 2554, "end_step": 2706, "id": "6eaec10b-a374-4d0f-8a25-9a555977e2d3"}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical object off the table surface and transports it toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylindrical object with the empty slot on the wooden block rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the front-right white bottle on the wooden rack, with fingers opening to detach from the bottle surface."}, {"label": "goal", "start_step": 2707, "end_step": 2811, "id": "dcf310fa-f3ca-4b60-a432-ce1837096bce"}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cube on the black table, with fingers held open while approaching the target object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, making small adjustments to finger positions and wrist angle to establish a secure grip."}, {"label": "goal", "start_step": 2812, "end_step": 2961, "id": "b34284e2-b33e-432a-b55e-7cd70d723564"}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block fully off the table surface and moves it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden rack, makes small positional adjustments, and inserts the block into the slot until it rests stably on the rack."}, {"label": "home", "start_step": 2996, "end_step": 3024, "id": "QnOu-j7SCx5BTVLTLrrU3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial position to the left home position in front of the robot. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 38, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty from its initial right position toward the green hexagonal block on the table in front of the wooden peg stand."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block to form a stable grasp, with the block resting on the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table surface with no visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a stable grasp on the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 345, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hexagonal hole of the green block with the purple peg, and lowers the block slightly to begin fitting it onto the peg."}, {"label": "subtasks", "start_step": 398, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stationary above the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand lowers the green hexagonal block further along the purple peg until the block rests securely on the wooden base, completing the assembly fit."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger contact positions around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the black table surface and moves it upward to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 772, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg on the wooden base and makes small wrist and finger adjustments to lower the block onto the peg."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand places the white hexagonal block onto the left purple peg of the wooden assembly board, releasing the block as the block rests securely on the peg."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned on the front area of the black table surface."}, {"label": "subtasks", "start_step": 938, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the front table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface, moving it upward and horizontally toward the target peg on the wooden peg board."}, {"label": "subtasks", "start_step": 1042, "end_step": 1169, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylinder with the top of the target purple peg on the wooden board, lowers the cylinder, and makes small positional adjustments to fit the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held white cylindrical block with the right purple rod on the wooden base, fits it onto the rod to complete assembly, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden base area toward the nearby white hexagonal nut on the table surface while remaining empty."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp_lift: Right hand closes fingers around the white hexagonal nut on the table to establish a stable grip, lifts the nut slightly off the table surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the lifted white hexagonal nut in a fixed position without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white cylindrical block resting on the table next to the wooden peg base, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block off the table surface and transports it upward to position it directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1529, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple peg, fits the block onto the peg, and moves the block downward along the peg to continue the assembly process."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cylinder, moves it downward to place it onto the purple peg on the wooden base until the cylinder is stably supported, opens fingers to release the cylinder."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block adjacent to the wooden base on the black table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1590, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger positions to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to the area above the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1844, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | 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 to complete the nesting assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the purple rod on the wooden assembly stand, moving fingers away from the rod."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and moves it upward toward the wooden block assembly base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden base, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the top white cylindrical block on the stacked block assembly, fingers opening to break contact with the block."}, {"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 any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the table adjacent to the wooden block platform, remaining empty and not yet touching the block as it approaches."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes initial light contact with the white hexagonal block on the table, closes fingers around the block and makes small positional adjustments to form a stable grip while the block remains supported by the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2294, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the small white cylindrical block placed on the table next to the wooden block holder."}, {"label": "subtasks", "start_step": 2295, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block to the position directly above the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 2355, "end_step": 2444, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod, moves it downward to nest onto the rod and complete the assembly."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface, with fingers kept open."}, {"label": "subtasks", "start_step": 2498, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closes fingers and makes small adjustments to form a grip."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylindrical object on the black table surface without moving."}, {"label": "subtasks", "start_step": 2572, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical object off the table surface and transports it toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylindrical object with the empty slot on the wooden block rack and inserts it into the slot."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the front-right white bottle on the wooden rack, with fingers opening to detach from the bottle surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cube on the black table, with fingers held open while approaching the target object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, making small adjustments to finger positions and wrist angle to establish a secure grip."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green block fully off the table surface and moves it upward and leftward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2865, "end_step": 2969, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the empty slot on the wooden rack, makes small positional adjustments, and inserts the block into the slot until it rests stably on the rack."}], "episode_index": 4}
+{"source_uid": "2d0051bc3c2891e5", "num_frames": 2916, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and then downward toward the green cube on the table to the left of the wooden rack, remaining empty with fingers slightly open during movement."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "091c3a20-bed6-4452-8f18-4539c5c80f41"}, {"label": "valid", "start_step": 0, "end_step": 2887, "id": "s8SDrZr_guiKLSha3xICg"}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 cube on the table, with fingers closing around the block to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 158, "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: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "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 cube on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 214, "end_step": 384, "id": "eaf1f910-2932-428c-b30d-33ed2e2e18a6"}, {"label": "subtasks", "start_step": 248, "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_transport: Right hand lifts the green cube off the table and transports it above the peg of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the peg on the pegboard and fits it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "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 onto the leftmost purple peg of the block set."}, {"label": "goal", "start_step": 385, "end_step": 486, "id": "936417b8-8e7e-464f-a85f-9c582ed5a727"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "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 black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "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 black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 487, "end_step": 693, "id": "20cd63b6-35af-43f0-9fe0-da55e9896db8"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 part from the table and transports it above the purple peg of the assembly board."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg and mates it onto the peg by moving downward."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "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 part on the purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the middle vertical peg of the block set, with fingers opening to separate from the ring."}, {"label": "goal", "start_step": 694, "end_step": 837, "id": "99756fdb-ae2c-41d9-9cca-d4fdce336fd1"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "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 and leftward from the top peg area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 788, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 838, "end_step": 1041, "id": "64451c39-d4eb-4620-b00f-7065f8f8f83a"}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 1034, "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 object onto the front-left purple peg of the wooden pegboard, adjusting to align and fit the object onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white ring on the middle purple peg and releases it."}, {"label": "goal", "start_step": 1042, "end_step": 1164, "id": "4e97bf8c-736e-488c-a1db-15ad21a9b35d"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1095, "end_step": 1199, "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 ring on the table in front of the wooden peg board, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1165, "end_step": 1497, "id": "487e66b3-f6bc-402b-9e95-c6d450ce3613"}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "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 hollow cylindrical part off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden rack and assembles it downward, with continuous fine position adjustments."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the rightmost purple peg and releases its grip."}, {"label": "goal", "start_step": 1498, "end_step": 1602, "id": "c0d6c48e-e3f3-4954-b2ed-a3110790aa40"}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left 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."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "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": 1590, "end_step": 1619, "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 square block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1603, "end_step": 1746, "id": "581196ab-1977-48d2-9c33-bb8115c0e01f"}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00034", "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 square block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base block area toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1747, "end_step": 1845, "id": "7d76cc73-cdc7-48cf-95e7-843c049d622f"}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "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 piece with a central hole on the dark table, adjusting its fingers to stabilize the grip."}, {"label": "goal", "start_step": 1846, "end_step": 2016, "id": "1f3159b0-0d05-4546-8355-78e90266ad45"}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 hexagonal piece off the table and transports it toward the green and white block assembly in the middle of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal piece with the green cylindrical post on the middle assembly and presses it down along the post to the assembled position."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00041", "text": "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 rack, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2017, "end_step": 2115, "id": "971304e2-5b6d-4b00-a8a6-6174d6b128e8"}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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 reaches downward toward the small white hexagonal block on the table beside the wooden rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 grasps the small white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "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 object on the table at the lower right of the test tube rack, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2116, "end_step": 2265, "id": "d504bccc-eeb6-4428-a2b1-366bdcf4fd02"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "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 small white object from the table and transports it upward and leftward toward the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "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 mates the small white object with the top of the purple rod on the test tube rack, aligning the object and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small white object downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "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 small white object on the purple rod, with fingers opening and moving away from the object."}, {"label": "goal", "start_step": 2266, "end_step": 2364, "id": "e38ea633-d8e5-4768-a2eb-6d9a42476e64"}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "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, with fingers slightly open."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "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": "goal", "start_step": 2365, "end_step": 2517, "id": "99f65b61-1896-4097-a72a-ac6cce215ede"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, lowering the ring down along the rod to complete the fitting."}, {"label": "goal", "start_step": 2518, "end_step": 2625, "id": "6fcc6989-3429-48b5-85b4-70e496a94234"}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2565, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2626, "end_step": 2847, "id": "f0c4d2a2-91d5-4765-be1e-c6b1ecc20503"}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left 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 from the table and transports it toward the bottle with a purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00058", "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 mouth of the purple-top bottle and fits it onto the bottle initially."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00059", "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 ring downward along the bottle body to fully fit it into place."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00060", "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 ring on the purple-top bottle without moving."}, {"label": "home", "start_step": 2888, "end_step": 2915, "id": "zWRyGb5zpkUdvH1m6dMUV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and then downward toward the green cube on the table to the left of the wooden rack, remaining empty with fingers slightly open during movement."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "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 cube on the table, with fingers closing around the block to adjust and stabilize the grip."}, {"label": "subtasks", "start_step": 158, "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: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "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 cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "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_transport: Right hand lifts the green cube off the table and transports it above the peg of the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the peg on the pegboard and fits it onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "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 onto the leftmost purple peg of the block set."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the leftmost purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "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 black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 517, "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 black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "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 part from the table and transports it above the purple peg of the assembly board."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg and mates it onto the peg by moving downward."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "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 part on the purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the middle vertical peg of the block set, with fingers opening to separate from the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "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 and leftward from the top peg area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: 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": 788, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden pegboard with purple pegs."}, {"label": "subtasks", "start_step": 878, "end_step": 1034, "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 object onto the front-left purple peg of the wooden pegboard, adjusting to align and fit the object onto the peg."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold_release: Right hand holds the white ring on the middle purple peg and releases it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 1095, "end_step": 1199, "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 ring on the table in front of the wooden peg board, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "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 hollow cylindrical part off the table and transports it to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1238, "end_step": 1484, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple peg on the wooden rack and assembles it downward, with continuous fine position adjustments."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical piece onto the rightmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 1515, "end_step": 1537, "id": "reasoning-language-00028", "text": "Left 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."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "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": 1590, "end_step": 1619, "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 square block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1620, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it toward the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green square block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1658, "end_step": 1739, "id": "reasoning-language-00034", "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 square block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base block area toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "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 piece with a central hole on the dark table, adjusting its fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "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 hexagonal piece off the table and transports it toward the green and white block assembly in the middle of the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal piece with the green cylindrical post on the middle assembly and presses it down along the post to the assembled position."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00041", "text": "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 rack, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2032, "end_step": 2069, "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 reaches downward toward the small white hexagonal block on the table beside the wooden rack."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "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 grasps the small white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the small white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "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 object on the table at the lower right of the test tube rack, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "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 small white object from the table and transports it upward and leftward toward the purple rod on the test tube rack."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "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 mates the small white object with the top of the purple rod on the test tube rack, aligning the object and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2212, "end_step": 2257, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small white object downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "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 small white object on the purple rod, with fingers opening and moving away from the object."}, {"label": "subtasks", "start_step": 2280, "end_step": 2324, "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, with fingers slightly open."}, {"label": "subtasks", "start_step": 2325, "end_step": 2347, "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, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2348, "end_step": 2391, "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": 2392, "end_step": 2421, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2527, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring with the purple rod on the wooden tray, lowering the ring down along the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2528, "end_step": 2564, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2565, "end_step": 2647, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00057", "text": "Left 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 from the table and transports it toward the bottle with a purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00058", "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 mouth of the purple-top bottle and fits it onto the bottle initially."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00059", "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 ring downward along the bottle body to fully fit it into place."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00060", "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 ring on the purple-top bottle without moving."}], "episode_index": 5}
+{"source_uid": "d4f389e1e67d40bd", "num_frames": 3048, "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 operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal part on the front-left purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 273, "id": "4dcae02f-fc09-4e4e-a010-d05e106cd1d4"}, {"label": "valid", "start_step": 0, "end_step": 3016, "id": "nlonJ-pLmedYxvr35VZyI"}, {"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 operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "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 part downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table surface."}, {"label": "goal", "start_step": 274, "end_step": 570, "id": "27541b0a-8a22-4ade-bc4a-604a223beca1"}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00005", "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 green block off the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block above the purple rod on the wooden base."}, {"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 operation area without moving. | Right hand: mate: Right hand aligns the green block's hole with the purple rod."}, {"label": "subtasks", "start_step": 420, "end_step": 569, "id": "reasoning-language-00008", "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 is fully seated."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the wooden base with vertical pegs towards the operator."}, {"label": "goal", "start_step": 571, "end_step": 684, "id": "c0db7b3b-a8e0-40ee-b5b9-a4d3b75c6163"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00011", "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."}, {"label": "goal", "start_step": 685, "end_step": 882, "id": "1f36e97b-aab7-4bbb-ac8e-86b6fe1efcad"}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00012", "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 object off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00013", "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 object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "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 ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "goal", "start_step": 883, "end_step": 996, "id": "09d1efff-0a4d-4ee6-aa0a-0513beaec932"}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00015", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 997, "end_step": 1272, "id": "9f0ecb24-0065-4b3b-83bc-a63fe7420d1b"}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00017", "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 object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00018", "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 object with the purple rod on the wooden rack and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00019", "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 purple peg, fingers open to separate from the block."}, {"label": "goal", "start_step": 1273, "end_step": 1428, "id": "15d6c0ff-aa76-4ff3-8ab9-2193a65577ed"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00020", "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 white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1454, "id": "reasoning-language-00021", "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 tabletop, fingers close and adjust to form a stable grip."}, {"label": "goal", "start_step": 1429, "end_step": 1584, "id": "4db9bf9b-cc80-4842-b885-4255ba041f1e"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00022", "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 to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00023", "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 with the purple rod by aligning and inserting it onto the rod."}, {"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 operation 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": 1585, "end_step": 1680, "id": "cc57655b-9fbf-4b07-a722-928b90b01ec4"}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00025", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00026", "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 green square block on the table surface."}, {"label": "goal", "start_step": 1681, "end_step": 1899, "id": "35fdad3a-9a2a-4a7c-a75b-7dffffcaa65c"}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00027", "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 tabletop and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00028", "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 white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00029", "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 white peg to move it closer to the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00030", "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 corresponding peg of the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2004, "id": "204687de-ddaa-4b04-be63-b4133834521b"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the placed white cylindrical block and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2005, "end_step": 2163, "id": "e29305f8-0c3c-4243-95bb-e952359381d0"}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00033", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00034", "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, lowering it and pressing down to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "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 releases the white hexagonal block that is fitted on the purple rod."}, {"label": "goal", "start_step": 2164, "end_step": 2292, "id": "71449a74-5697-4063-aa38-004df0567669"}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 downward towards the white hexagonal part on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2317, "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 its fingers and adjusts to establish a stable grasp on the white hexagonal part on the table."}, {"label": "goal", "start_step": 2293, "end_step": 2463, "id": "7e3f7afe-5fbf-4fd0-920e-5eaeef95de6b"}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "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 hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "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 lowers the white hexagonal block and places it onto the purple rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "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 hexagonal block after it is positioned on the purple rod."}, {"label": "goal", "start_step": 2464, "end_step": 2544, "id": "e174b706-946c-4306-9ca8-f15e2dd00775"}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "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 downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "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 its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 2545, "end_step": 2751, "id": "f9d356b5-5092-4a8d-8cbe-03c058562963"}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "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 block off the table and transports it towards the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2655, "end_step": 2744, "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 block into the empty slot on the wooden rack and adjusts its position to fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white bottle with purple cap on the wooden tray."}, {"label": "goal", "start_step": 2752, "end_step": 2853, "id": "e4e1f286-10d7-41a4-a043-8411e4177e68"}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "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 down towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "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 adjusts fingers to grasp the green block on the black table surface."}, {"label": "goal", "start_step": 2854, "end_step": 2988, "id": "1bf0af39-5687-42c4-a149-e3b1e7b736b3"}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "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 object off the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "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 object onto the corresponding position of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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_retreat: Right hand releases the green object and retreats from the wooden tray."}, {"label": "home", "start_step": 3017, "end_step": 3047, "id": "K6BPNPDYPNQse8J0bnfeD"}], "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 operation area without moving. | Right hand: reach: Right hand moves towards the white hexagonal part on the front-left purple rod of the wooden base."}, {"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 operation area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal part on the front-left purple rod, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 180, "end_step": 269, "id": "reasoning-language-00003", "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 part downward along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table surface."}, {"label": "subtasks", "start_step": 315, "end_step": 337, "id": "reasoning-language-00005", "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 green block off the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand moves the green block above the purple rod on the wooden base."}, {"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 operation area without moving. | Right hand: mate: Right hand aligns the green block's hole with the purple rod."}, {"label": "subtasks", "start_step": 420, "end_step": 569, "id": "reasoning-language-00008", "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 is fully seated."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: pull: Right hand pulls the wooden base with vertical pegs towards the operator."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00011", "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."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00012", "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 object off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 750, "end_step": 869, "id": "reasoning-language-00013", "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 object with the purple rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00014", "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 ring onto the purple rod on the wooden base, then releases the ring."}, {"label": "subtasks", "start_step": 908, "end_step": 944, "id": "reasoning-language-00015", "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 white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00017", "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 object off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1080, "end_step": 1259, "id": "reasoning-language-00018", "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 object with the purple rod on the wooden rack and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00019", "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 purple peg, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00020", "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 white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1454, "id": "reasoning-language-00021", "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 tabletop, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00022", "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 to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1574, "id": "reasoning-language-00023", "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 with the purple rod by aligning and inserting it onto the rod."}, {"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 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": 1605, "end_step": 1634, "id": "reasoning-language-00025", "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 square block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00026", "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 green square block on the table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00027", "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 tabletop and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00028", "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 white peg on the wooden base and inserts the block onto the peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1889, "id": "reasoning-language-00029", "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 white peg to move it closer to the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00030", "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 corresponding peg of the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the placed white cylindrical block and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2054, "id": "reasoning-language-00033", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00034", "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, lowering it and pressing down to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "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 releases the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "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 downward towards the white hexagonal part on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2205, "end_step": 2317, "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 its fingers and adjusts to establish a stable grasp on the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "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 hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "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 lowers the white hexagonal block and places it onto the purple rod."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "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 hexagonal block after it is positioned on the purple rod."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "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 downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "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 its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2610, "end_step": 2654, "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 block off the table and transports it towards the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2655, "end_step": 2744, "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 block into the empty slot on the wooden rack and adjusts its position to fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "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 down towards the green block on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "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 adjusts fingers to grasp the green block on the black table surface."}, {"label": "subtasks", "start_step": 2880, "end_step": 2909, "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 object off the table and transports it towards the wooden tray with white bottles."}, {"label": "subtasks", "start_step": 2910, "end_step": 2977, "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 object onto the corresponding position of the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2978, "end_step": 2999, "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_retreat: Right hand releases the green object and retreats from the wooden tray."}], "episode_index": 6}
+{"source_uid": "38515af829ee6bf8", "num_frames": 2635, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial raised position to the left home position with slight finger adjustments, stopping at the home position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "87158ac0-bea1-4de8-8df1-95fce16a6a3f"}, {"label": "valid", "start_step": 0, "end_step": 2604, "id": "s8_9ZbKpkexCZA9RQH2V1"}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block near the wooden peg board, adjusting finger and wrist positions while closing fingers to establish a grasp."}, {"label": "goal", "start_step": 196, "end_step": 381, "id": "9eb264b4-2d17-4f0e-87a7-f2de594389f4"}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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 purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block placed on the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 382, "end_step": 483, "id": "c3c44e29-4a4b-4527-9622-ea678252ca35"}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 435, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish a grip."}, {"label": "goal", "start_step": 484, "end_step": 651, "id": "8c900f93-9638-40cd-95e7-c547a67600d0"}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rods on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting the nut's position to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: press: Right hand presses the top surfaces of the white hexagonal sleeves on the purple pegs of the wooden base downward to seat the sleeves fully onto the pegs."}, {"label": "goal", "start_step": 652, "end_step": 774, "id": "751dd53f-e5a7-4a09-9cdc-2f19ee349158"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "goal", "start_step": 775, "end_step": 945, "id": "472ea589-22d4-4828-b84b-3b1e2ac894a0"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden rack, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits the block onto the rightmost purple peg on the pegboard, releases the block with fingers opening as the block is stably supported by the peg."}, {"label": "goal", "start_step": 946, "end_step": 1080, "id": "e1e0a8e8-faf0-412a-a2e4-c4f1e47bc683"}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block on the table in front of the pegboard, approaching the block surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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": 1020, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the pegboard without any observable movement or grip adjustment."}, {"label": "goal", "start_step": 1081, "end_step": 1299, "id": "fa738af0-eaf4-4e2a-9773-53dfd794bc00"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal object vertically upward until it fully leaves the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the held white hexagonal object upward and toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1267, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple peg, lowers and adjusts the object to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal object seated on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position near the wooden pegboard toward the front green hexagonal block on the black table surface, without contacting the target block."}, {"label": "goal", "start_step": 1300, "end_step": 1398, "id": "21c187cd-7e0f-4afd-86c5-ddb4774092bb"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the front green hexagonal block steadily on the table surface, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal ring resting on the black table surface."}, {"label": "goal", "start_step": 1399, "end_step": 1536, "id": "6aacde8c-4f0f-4df8-bd13-0e303bacbce2"}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal ring vertically upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the grasped green hexagonal ring upward and toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal ring with the purple rod, lowering the ring to fit it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: place_release: Right hand adjusts the green hexagonal block to seat it on the wooden base peg and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1537, "end_step": 1638, "id": "6854708f-4ba9-44ce-8e46-665868254d57"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish grip on the block."}, {"label": "goal", "start_step": 1639, "end_step": 1800, "id": "0e6190d9-d195-43c1-81fc-dc20ed32eda0"}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit securely onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal nut adjacent to the right edge of the wooden base, with fingers extended and no contact with the target nut."}, {"label": "goal", "start_step": 1801, "end_step": 1902, "id": "88bd1507-aec8-48b6-a950-61f9b810dd00"}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 1903, "end_step": 2046, "id": "a1001fc6-d870-4d82-b2b4-e5db9c5f51e2"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers it to fit onto the rod, and sets it down onto the existing white nut at the bottom of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position beside the wooden block rack toward the white hexagonal nut on the table surface."}, {"label": "goal", "start_step": 2047, "end_step": 2127, "id": "832a0177-3d34-4d17-82fa-ecf4a46e20c9"}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish contact with the nut which stays on the table surface."}, {"label": "goal", "start_step": 2128, "end_step": 2313, "id": "38262398-e402-42f7-9336-b92baf6c3671"}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden holder and inserts the block into the slot."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the inserted white cylindrical block, separating from the block surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward and toward the lower right from the position near the white cylindrical objects on the wooden base, approaching the green square block on the table surface without making contact."}, {"label": "goal", "start_step": 2314, "end_step": 2409, "id": "0171c6ab-e004-4ef6-9391-753f0a536d49"}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2410, "end_step": 2571, "id": "4c841fbe-ef1e-4bc9-b5f3-9ad6c51f7d02"}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position above the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the target white post on the block stack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, leaving the block stably seated on the target post."}, {"label": "home", "start_step": 2605, "end_step": 2634, "id": "maarxAVStcSMYg2yJlZ1t"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial raised position to the left home position with slight finger adjustments, stopping at the home position. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 38, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves from the initial right raised position toward the green hexagonal block near the wooden peg board with fingers open, approaching the target without making contact."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block near the wooden peg board, adjusting finger and wrist positions while closing fingers to establish a grasp."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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 purple peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block placed on the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 435, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger positions to establish a grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward toward the purple rods on the wooden rack."}, {"label": "subtasks", "start_step": 540, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple rod on the wooden rack, adjusting the nut's position to fit it onto the rod for assembly."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: press: Right hand presses the top surfaces of the white hexagonal sleeves on the purple pegs of the wooden base downward to seat the sleeves fully onto the pegs."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block on the table surface, approaching the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the table to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface, moving it upward toward the purple pegs on the wooden rack."}, {"label": "subtasks", "start_step": 848, "end_step": 937, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden rack, fitting the nut onto the peg."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut seated on the purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits the block onto the rightmost purple peg on the pegboard, releases the block with fingers opening as the block is stably supported by the peg."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block on the table in front of the pegboard, approaching the block surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | 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": 1020, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the pegboard without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal object vertically upward until it fully leaves the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the held white hexagonal object upward and toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1267, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple peg, lowers and adjusts the object to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the white hexagonal object seated on the purple peg without visible movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position near the wooden pegboard toward the front green hexagonal block on the black table surface, without contacting the target block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: hold: Right hand holds the front green hexagonal block steadily on the table surface, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal ring resting on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1431, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift: Right hand lifts the grasped green hexagonal ring vertically upward until it is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: transport: Right hand moves the grasped green hexagonal ring upward and toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal ring with the purple rod, lowering the ring to fit it onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: place_release: Right hand adjusts the green hexagonal block to seat it on the wooden base peg and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish grip on the block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit securely onto the rod, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal nut adjacent to the right edge of the wooden base, with fingers extended and no contact with the target nut."}, {"label": "subtasks", "start_step": 1860, "end_step": 1927, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish a grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod, lowers it to fit onto the rod, and sets it down onto the existing white nut at the bottom of the rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward from the position beside the wooden block rack toward the white hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight finger adjustments to establish contact with the nut which stays on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2198, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden holder and inserts the block into the slot."}, {"label": "subtasks", "start_step": 2288, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the inserted white cylindrical block, separating from the block surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2361, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: reach: Right hand moves downward and toward the lower right from the position near the white cylindrical objects on the wooden base, approaching the green square block on the table surface without making contact."}, {"label": "subtasks", "start_step": 2362, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: grasp: Right hand makes contact with the green square block on the table, fingers close and make small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position above the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the target white post on the block stack, fitting the block onto the post."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any visible movement. | Right hand: release: Right hand opens its fingers to release the green block, leaving the block stably seated on the target post."}], "episode_index": 7}
+{"source_uid": "75e14b250fb17df7", "num_frames": 2830, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating slightly and fingers opening gradually. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "goal", "start_step": 0, "end_step": 327, "id": "c2c7efc5-7cef-4e71-a0ee-1bc20e5b3b42"}, {"label": "valid", "start_step": 0, "end_step": 2799, "id": "ZbRRH4HHQsd9t577yTjYr"}, {"label": "subtasks", "start_step": 30, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left side of the wooden rack, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 328, "end_step": 495, "id": "e78278c0-3f4e-497f-bfc6-193763aa3c03"}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost purple peg and slides the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on top of the purple peg, with fingers opening to loosen the grip."}, {"label": "goal", "start_step": 496, "end_step": 597, "id": "8d205ee9-8cf6-4d8c-98fe-8fe8530b60d1"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 548, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "goal", "start_step": 598, "end_step": 846, "id": "eea4cb59-b407-42b9-9c26-83e6067dcd18"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and fits it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "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 part fitted on the leftmost purple peg without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden pegboard, with fingers opening and separating from the object."}, {"label": "goal", "start_step": 847, "end_step": 984, "id": "3110ac4b-2a94-40a9-a034-1cbf7297cbbd"}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing and adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 985, "end_step": 1137, "id": "a3319cda-eccd-4a4c-94d1-93506b762fd0"}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden peg rack on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1147, "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 block with a peg on the wooden rack and inserts it downward to complete assembly."}, {"label": "goal", "start_step": 1138, "end_step": 1272, "id": "62d503dc-e31c-4f8a-9afe-dbee7f5f3cc5"}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the leftmost peg, with fingers opening."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "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 grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "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 cylindrical piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1273, "end_step": 1422, "id": "608c9c4a-2a0f-474f-8863-01bbf58469a3"}, {"label": "subtasks", "start_step": 1305, "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: lift: Right hand lifts the white cylindrical piece off the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00028", "text": "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 piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1423, "end_step": 1515, "id": "849115f7-dd98-4fa3-99b2-fc4eac998b3d"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "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 cylindrical block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "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 square block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "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 square block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1516, "end_step": 1668, "id": "bf38c747-304c-4aa9-9b62-92e77e706d25"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "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 wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1669, "end_step": 1770, "id": "b632fcc6-dd2d-4675-b949-e112e73b1c42"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with hand empty."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00040", "text": "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": "goal", "start_step": 1771, "end_step": 1932, "id": "35734756-23ba-4364-9e77-0da0edec6979"}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand carries the white hexagonal block upward and leftward from the table surface to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green-white cylindrical part onto the purple rod on the central rack and releases it."}, {"label": "goal", "start_step": 1933, "end_step": 2043, "id": "d03e1a67-c219-4619-b12a-44cd52c44dae"}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "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 hexagonal part on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2044, "end_step": 2178, "id": "09db8f64-4918-4e09-ab20-eb73aecff4f4"}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical part upward off the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylindrical part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "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 mates the white hollow cylindrical part with the purple rod by lowering it along the rod until fully seated."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical part on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:pull_up_rod: Right hand pulls the purple rod upward from the rightmost white column on the wooden base."}, {"label": "goal", "start_step": 2179, "end_step": 2292, "id": "af8be0d6-4b87-42e2-a687-5ff585685655"}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left 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 with fingers closing around it."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right table surface, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 2293, "end_step": 2442, "id": "c64baf77-3f4d-4283-8170-37cb3ad63954"}, {"label": "subtasks", "start_step": 2318, "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: lift: Right hand lifts the white cylindrical object upward off the table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00059", "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 object leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning the hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object by opening its fingers."}, {"label": "goal", "start_step": 2443, "end_step": 2544, "id": "ab9164c6-2692-4bc5-ad98-d888ef59e04f"}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "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 to reach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "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 cubic block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00064", "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 dark table surface without moving."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00065", "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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2545, "end_step": 2736, "id": "b3f57610-8499-40fb-a841-9744d44bf9ff"}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00066", "text": "Left 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 toward the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00068", "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-topped bottle without moving."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block by gradually opening fingers."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the bottle assembly toward the right side."}, {"label": "home", "start_step": 2800, "end_step": 2829, "id": "wKHyKlkDItR9x7reG_pY_"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with wrist rotating slightly and fingers opening gradually. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "subtasks", "start_step": 30, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward and downward to approach the green block on the left side of the wooden rack, with fingers adjusting posture during movement."}, {"label": "subtasks", "start_step": 248, "end_step": 351, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the left side of the wooden rack, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 352, "end_step": 404, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 405, "end_step": 494, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the leftmost purple peg and slides the block down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on top of the purple peg, with fingers opening to loosen the grip."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table in front of the peg board."}, {"label": "subtasks", "start_step": 548, "end_step": 637, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward and rightward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 711, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and fits it onto the peg to complete the nesting assembly."}, {"label": "subtasks", "start_step": 712, "end_step": 839, "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 part fitted on the leftmost purple peg without any observable movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object on the wooden pegboard, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface, empty-handed."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers closing and adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1011, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black table surface."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the wooden peg rack on the table."}, {"label": "subtasks", "start_step": 1035, "end_step": 1147, "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 block with a peg on the wooden rack and inserts it downward to complete assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the leftmost peg, with fingers opening."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "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 downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "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 grip."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "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 without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "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 cylindrical piece on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1305, "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: lift: Right hand lifts the white cylindrical piece off the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1409, "id": "reasoning-language-00028", "text": "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 piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "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 cylindrical block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "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 square block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "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 square block on the black table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green square block on the black table without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1664, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "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 wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, with hand empty."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1740, "end_step": 1791, "id": "reasoning-language-00040", "text": "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": 1792, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand carries the white hexagonal block upward and leftward from the table surface to the area above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green-white cylindrical part onto the purple rod on the central rack and releases it."}, {"label": "subtasks", "start_step": 1958, "end_step": 1987, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "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 hexagonal part on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical part on the table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow cylindrical part upward off the table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow cylindrical part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "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 mates the white hollow cylindrical part with the purple rod by lowering it along the rod until fully seated."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical part on the purple rod by opening its fingers."}, {"label": "subtasks", "start_step": 2175, "end_step": 2197, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:pull_up_rod: Right hand pulls the purple rod upward from the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2227, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down-right toward the white hexagonal part on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00055", "text": "Left 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 with fingers closing around it."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 hexagonal part on the table without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the right table surface, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2318, "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: lift: Right hand lifts the white cylindrical object upward off the table surface."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00059", "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 object leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2355, "end_step": 2414, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod by aligning the hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object by opening its fingers."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "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 to reach the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "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 cubic block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00064", "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 dark table surface without moving."}, {"label": "subtasks", "start_step": 2535, "end_step": 2571, "id": "reasoning-language-00065", "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, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2572, "end_step": 2601, "id": "reasoning-language-00066", "text": "Left 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 toward the purple-topped bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple-topped bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00068", "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-topped bottle without moving."}, {"label": "subtasks", "start_step": 2692, "end_step": 2721, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block by gradually opening fingers."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the bottle assembly toward the right side."}], "episode_index": 8}
+{"source_uid": "33fa6d35a9ba193c", "num_frames": 3016, "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": 187, "id": "reasoning-language-00001", "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 hexagonal block placed on the black tabletop."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "2b785c97-0712-4157-8512-1724718e4a43"}, {"label": "valid", "start_step": 0, "end_step": 2988, "id": "BAGjlXcWwEKt_rnmjZjKz"}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00002", "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 green hexagonal block on the black tabletop, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 226, "end_step": 453, "id": "fcb0e598-a99c-4765-9740-e34a91990c09"}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00003", "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 from the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00004", "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 block onto the leftmost purple peg of the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00006", "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 block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 454, "end_step": 573, "id": "1877cf31-37d1-4b30-a231-aa7cff2d4648"}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00008", "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 block on the black table surface."}, {"label": "goal", "start_step": 574, "end_step": 816, "id": "5fdf5db9-2d0b-4843-ab79-b0f06fd0e86a"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "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 leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 711, "id": "reasoning-language-00010", "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 leftmost purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00011", "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 until it reaches the green base part."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white ring block onto the purple post of the wooden base and releases the block."}, {"label": "goal", "start_step": 817, "end_step": 942, "id": "cac07f4c-e02f-4794-b8b9-e3fe62232785"}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00014", "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 on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 943, "end_step": 1143, "id": "f66f0e38-b835-432c-934d-038568318745"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00015", "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 front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1139, "id": "reasoning-language-00016", "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 hexagonal block with the front purple rod on the wooden base by lowering and adjusting it onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00017", "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 on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1144, "end_step": 1269, "id": "85a3ae01-f1a2-4951-ba67-afef808d22a8"}, {"label": "subtasks", "start_step": 1162, "end_step": 1221, "id": "reasoning-language-00018", "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 table in front of the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00019", "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 block on the table."}, {"label": "goal", "start_step": 1270, "end_step": 1482, "id": "a3bc1e10-b848-4a15-b2fc-a553f499fdff"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00020", "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 block off the table and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00021", "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 cylindrical block with the purple peg and inserts the block onto the peg to establish an assembly relationship."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00022", "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 cylindrical block down along the purple peg until it is firmly seated."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1483, "end_step": 1581, "id": "d355d3dc-99a2-41bf-9df8-01ddc9a99d6a"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00024", "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 cubic block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00025", "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 green cubic block on the table surface."}, {"label": "goal", "start_step": 1582, "end_step": 1740, "id": "7f9e92a2-6b60-4f2d-af66-4cbfd666a9f9"}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00026", "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 green block upward, making it completely leave the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00027", "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 block horizontally towards the wooden peg base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand moves the green block downward to align with the top of the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand pushes the green block down along the peg to assemble it onto the base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "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 sleeve on the wooden base and moves away from the base."}, {"label": "goal", "start_step": 1741, "end_step": 1851, "id": "3805fd0a-b360-4753-ab0f-caedc65fda7d"}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00031", "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 sleeve on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00032", "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 sleeve on the table surface, with fingers closing around the sleeve to adjust grip."}, {"label": "goal", "start_step": 1852, "end_step": 2034, "id": "4dd9c239-6e3e-483e-96b4-419493a740c2"}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00033", "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 from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00034", "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 onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical ring onto the peg on the wooden base."}, {"label": "goal", "start_step": 2035, "end_step": 2157, "id": "2e67cc63-93a9-444b-a363-be5862e8669c"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white cylindrical ring on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2189, "id": "reasoning-language-00037", "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 cylindrical ring on the table."}, {"label": "goal", "start_step": 2158, "end_step": 2328, "id": "ee83887c-2864-4b90-ad63-77aa1cf128e8"}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00038", "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 from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden base, adjusting position to fit."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00040", "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 that has been placed on the purple rod."}, {"label": "goal", "start_step": 2329, "end_step": 2433, "id": "382318fa-7cbc-4fac-93ca-15f7f114f6b2"}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00041", "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 sleeve onto the purple rod on the wooden base until it is fitted in place."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00042", "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 hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00043", "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 establish stable grasp on the white hollow block on the table."}, {"label": "goal", "start_step": 2434, "end_step": 2682, "id": "5ee09be0-23e4-4bb8-aba3-d6983b25a700"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00044", "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 cylinder off the table and transports it towards the wooden tray with multiple cylinders."}, {"label": "subtasks", "start_step": 2505, "end_step": 2669, "id": "reasoning-language-00045", "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 cylinder with the empty post on the wooden tray and inserts it to complete assembly, adjusting the position for proper fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00046", "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 bottle with purple top on the wooden base."}, {"label": "goal", "start_step": 2683, "end_step": 2778, "id": "9fda7d19-2d2c-4263-8844-14259dba7da2"}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves empty towards the green block at the lower right area of the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2804, "id": "reasoning-language-00048", "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 green block on the lower right area of the table."}, {"label": "goal", "start_step": 2779, "end_step": 2946, "id": "54b7e777-eeed-4310-b253-ada919629753"}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "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 ring off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2939, "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 green ring onto the white bottle with purple top, adjusting position to fit it properly."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00051", "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 ring fitted on the white bottle with purple top."}, {"label": "home", "start_step": 2989, "end_step": 3015, "id": "WwACzZZ3pfuliOHkpYLwD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 187, "id": "reasoning-language-00001", "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 hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00002", "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 green hexagonal block on the black tabletop, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00003", "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 from the table and transports it to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00004", "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 block onto the leftmost purple peg of the wooden base by aligning and inserting."}, {"label": "subtasks", "start_step": 345, "end_step": 449, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00006", "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 block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 599, "id": "reasoning-language-00008", "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 block on the black table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "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 leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 711, "id": "reasoning-language-00010", "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 leftmost purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00011", "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 until it reaches the green base part."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place_release: Right hand places the white ring block onto the purple post of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00013", "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 table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 974, "id": "reasoning-language-00014", "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 on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00015", "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 front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1139, "id": "reasoning-language-00016", "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 hexagonal block with the front purple rod on the wooden base by lowering and adjusting it onto the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00017", "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 on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1221, "id": "reasoning-language-00018", "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 table in front of the wooden base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00019", "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 block on the table."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00020", "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 block off the table and transports it upward to the position above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00021", "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 cylindrical block with the purple peg and inserts the block onto the peg to establish an assembly relationship."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00022", "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 cylindrical block down along the purple peg until it is firmly seated."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00024", "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 cubic block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00025", "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 green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1627, "id": "reasoning-language-00026", "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 green block upward, making it completely leave the table surface."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00027", "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 block horizontally towards the wooden peg base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand moves the green block downward to align with the top of the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: mate: Right hand pushes the green block down along the peg to assemble it onto the base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "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 sleeve on the wooden base and moves away from the base."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00031", "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 sleeve on the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1889, "id": "reasoning-language-00032", "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 sleeve on the table surface, with fingers closing around the sleeve to adjust grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00033", "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 from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1920, "end_step": 2024, "id": "reasoning-language-00034", "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 onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical ring onto the peg on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves down towards the white cylindrical ring on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2189, "id": "reasoning-language-00037", "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 cylindrical ring on the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00038", "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 from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2235, "end_step": 2324, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden base, adjusting position to fit."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00040", "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 that has been placed on the purple rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00041", "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 sleeve onto the purple rod on the wooden base until it is fitted in place."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00042", "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 hollow block placed on the table surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2467, "id": "reasoning-language-00043", "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 establish stable grasp on the white hollow block on the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00044", "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 cylinder off the table and transports it towards the wooden tray with multiple cylinders."}, {"label": "subtasks", "start_step": 2505, "end_step": 2669, "id": "reasoning-language-00045", "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 cylinder with the empty post on the wooden tray and inserts it to complete assembly, adjusting the position for proper fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00046", "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 bottle with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the home position without moving. | Right hand: reach: Right hand moves empty towards the green block at the lower right area of the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2804, "id": "reasoning-language-00048", "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 green block on the lower right area of the table."}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "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 ring off the table and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2939, "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 green ring onto the white bottle with purple top, adjusting position to fit it properly."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00051", "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 ring fitted on the white bottle with purple top."}], "episode_index": 9}
+{"source_uid": "7ca0dd165f7ec65c", "num_frames": 2889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from its initial left rest position toward the central workspace with index finger extended, approaching the area above the scattered table blocks. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 201, "id": "2dd61b01-0d63-4501-85ac-630cb74c2163"}, {"label": "valid", "start_step": 0, "end_step": 2858, "id": "EbmBSWpDX3F8AQm_TXrPH"}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small finger and wrist adjustments to establish stable contact with the block which remains resting on the table surface."}, {"label": "goal", "start_step": 202, "end_step": 381, "id": "b25b7aac-f6e2-402f-bd34-375498bc7b6a"}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut slightly to fit the peg through the hole, forming the assembly connection."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: place: Right hand lowers the green hexagonal nut along the purple peg until the nut rests stably on the white nut below, maintaining grip on the green nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand holds the white cylindrical part, aligns it with the purple peg on the wooden peg base, and presses it downward to complete the insertion fit."}, {"label": "goal", "start_step": 382, "end_step": 492, "id": "f3504097-bdf6-49de-a6bb-1ed2b4526746"}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut on the table surface in front of the wooden base, approaching the target nut."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut during the grasp formation process."}, {"label": "goal", "start_step": 493, "end_step": 690, "id": "39d8239a-9a79-4556-9d81-7103f8c28921"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and lowers it with small positional adjustments to fit onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press_release: Right hand presses the white hexagonal block on the purple rod of the wooden assembly base fully onto the rod and releases contact with the block."}, {"label": "goal", "start_step": 691, "end_step": 822, "id": "785390d9-6a8a-4e6f-85d5-e4cceb60ecf8"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward and leftward from the assembly base area toward the white hexagonal nut on the black table surface, with no contact to any object."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to form a grasp, with ongoing fine adjustments of the hand and fingers."}, {"label": "goal", "start_step": 823, "end_step": 1011, "id": "d11030b0-dee2-487c-bdca-d8fde29ba98d"}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the wooden block stand to position it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 878, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple rod on the wooden stand, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press: Right hand presses downward on the top of the foremost white hexagonal block mounted on the vertical purple post using extended fingers."}, {"label": "goal", "start_step": 1012, "end_step": 1146, "id": "58cbc1f4-c12f-4bf0-9e34-bbfcee45322e"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an open posture from the post assembly area toward the white hexagonal block resting on the black table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block in a stable grip, with no visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal component resting on the table adjacent to the wooden assembly block."}, {"label": "goal", "start_step": 1147, "end_step": 1302, "id": "63075174-9329-44cc-a1dc-a7fbc91eacb4"}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component off the table surface, moving it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal component to align it with the purple peg, lowering the component to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal component fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves down and right from the area above the wooden pegboard, approaching the front green hexagonal block on the black table while empty."}, {"label": "goal", "start_step": 1303, "end_step": 1392, "id": "ae8f2b91-d8ec-449c-bcda-f3fa46817a2c"}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers gradually close and adjust to establish a grasp on the block which remains on the table surface."}, {"label": "goal", "start_step": 1393, "end_step": 1644, "id": "645a2fcf-be67-48d7-8415-3df943e1b549"}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position the block's central hole directly over the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple vertical peg, moves the block downward along the peg until the block rests stably on the lower green component on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green block onto the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "goal", "start_step": 1645, "end_step": 1758, "id": "8487db2f-ff31-42e3-8108-9ab5ee72b9b0"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut near the green square block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1759, "end_step": 1929, "id": "6b81bfe9-20e4-4bad-89ec-cc91c8030f0d"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green-banded white cylinder placed on the wooden base."}, {"label": "goal", "start_step": 1930, "end_step": 2049, "id": "89d519f0-5a3a-4c16-bade-b6e14d40caf1"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal nut adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the small white hexagonal nut on the table, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2050, "end_step": 2265, "id": "fc02fd1c-829f-4a0c-8278-07d8d1368411"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the black table surface and moves the cylinder upward and horizontally to position it directly above the empty mounting hole on the wooden base next to the purple vertical rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2211, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the bottom of the white cylinder with the empty mounting hole on the wooden base and lowers the cylinder to insert it into the hole, making small positional adjustments to seat the object upright on the base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens its fingers gradually to release the white cylinder seated in the mounting hole on the wooden base, separating contact between the hand and the placed object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the loose white hexagonal block on the dark table surface, with fingers held extended as it approaches the target block."}, {"label": "goal", "start_step": 2266, "end_step": 2358, "id": "a110f6aa-43f4-4bba-8df0-a368b5880703"}, {"label": "subtasks", "start_step": 2332, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the table, making small adjustments to finger position to establish contact with the block."}, {"label": "goal", "start_step": 2359, "end_step": 2520, "id": "e738bc56-6ddc-41b8-8e42-30dd81641f7d"}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the table surface and moves it upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 2438, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white cylinder with the empty vertical slot on the wooden holder and inserts the cylinder into the slot."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the inserted white cylinder, breaking contact with the object."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the position near the stacked cylindrical objects toward the green square block on the table, with fingers slightly extended and not yet touching the target block."}, {"label": "goal", "start_step": 2521, "end_step": 2640, "id": "5c65915d-c473-4683-b79e-fac627e8867b"}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing and adjusting finger positions to form a grip on the block."}, {"label": "goal", "start_step": 2641, "end_step": 2805, "id": "c4c79a32-9838-4357-ad1c-e3321f9d7005"}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand carries the green block upward and leftward toward the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green block with the target bottle on the wooden rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand gradually opens its fingers to release the green block fitted onto the target bottle."}, {"label": "home", "start_step": 2859, "end_step": 2888, "id": "ZqPE5GnA3fRy5MfORLNVZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves from its initial left rest position toward the central workspace with index finger extended, approaching the area above the scattered table blocks. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 52, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves from its initial right rest position toward the green hexagonal block on the table to the left of the wooden block stand, extending fingers as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small finger and wrist adjustments to establish stable contact with the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to position directly above a purple vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut slightly to fit the peg through the hole, forming the assembly connection."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: place: Right hand lowers the green hexagonal nut along the purple peg until the nut rests stably on the white nut below, maintaining grip on the green nut."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand holds the white cylindrical part, aligns it with the purple peg on the wooden peg base, and presses it downward to complete the insertion fit."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal nut on the table surface in front of the wooden base, approaching the target nut."}, {"label": "subtasks", "start_step": 435, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, adjusting finger positions to close around the nut during the grasp formation process."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and lowers it with small positional adjustments to fit onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press_release: Right hand presses the white hexagonal block on the purple rod of the wooden assembly base fully onto the rod and releases contact with the block."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward and leftward from the assembly base area toward the white hexagonal nut on the black table surface, with no contact to any object."}, {"label": "subtasks", "start_step": 750, "end_step": 839, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to form a grasp, with ongoing fine adjustments of the hand and fingers."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the wooden block stand to position it above the target purple vertical rod."}, {"label": "subtasks", "start_step": 878, "end_step": 1004, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align it with the purple rod on the wooden stand, lowering the nut to fit onto the rod."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: press: Right hand presses downward on the top of the foremost white hexagonal block mounted on the vertical purple post using extended fingers."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward with an open posture from the post assembly area toward the white hexagonal block resting on the black table surface adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger adjustments to establish a secure grip."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block in a stable grip, with no visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal component resting on the table adjacent to the wooden assembly block."}, {"label": "subtasks", "start_step": 1178, "end_step": 1207, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component off the table surface, moving it upward to position it directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand adjusts the orientation of the white hexagonal component to align it with the purple peg, lowering the component to fit it onto the peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal component fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves down and right from the area above the wooden pegboard, approaching the front green hexagonal block on the black table while empty."}, {"label": "subtasks", "start_step": 1335, "end_step": 1417, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, fingers gradually close and adjust to establish a grasp on the block which remains on the table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1454, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface and moves it upward to position the block's central hole directly over the purple vertical peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1634, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green hexagonal block with the purple vertical peg, moves the block downward along the peg until the block rests stably on the lower green component on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green block onto the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut near the green square block on the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and moves it upward to the position directly above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod and lowers the block to fit securely onto the rod."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the green-banded white cylinder placed on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal nut adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2077, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes fingers around the small white hexagonal nut on the table, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the black table surface and moves the cylinder upward and horizontally to position it directly above the empty mounting hole on the wooden base next to the purple vertical rod."}, {"label": "subtasks", "start_step": 2122, "end_step": 2211, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the bottom of the white cylinder with the empty mounting hole on the wooden base and lowers the cylinder to insert it into the hole, making small positional adjustments to seat the object upright on the base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens its fingers gradually to release the white cylinder seated in the mounting hole on the wooden base, separating contact between the hand and the placed object."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the wooden peg assembly area toward the loose white hexagonal block on the dark table surface, with fingers held extended as it approaches the target block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal block on the table, making small adjustments to finger position to establish contact with the block."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift_transport: Right hand lifts the grasped white cylinder completely off the table surface and moves it upward toward the empty position on the wooden block holder."}, {"label": "subtasks", "start_step": 2438, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the white cylinder with the empty vertical slot on the wooden holder and inserts the cylinder into the slot."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand opens fingers to release the inserted white cylinder, breaking contact with the object."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: reach: Right hand moves downward from the position near the stacked cylindrical objects toward the green square block on the table, with fingers slightly extended and not yet touching the target block."}, {"label": "subtasks", "start_step": 2580, "end_step": 2661, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing and adjusting finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: lift: Right hand lifts the grasped green block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: transport: Right hand carries the green block upward and leftward toward the target bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2722, "end_step": 2774, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: mate: Right hand aligns the green block with the target bottle on the wooden rack and fits the block onto the bottle."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty in the raised left position above the table without moving, with fingers held in a partially extended pointing posture. | Right hand: release: Right hand gradually opens its fingers to release the green block fitted onto the target bottle."}], "episode_index": 10}
+{"source_uid": "2cf32b31cb97531b", "num_frames": 2793, "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": 134, "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 toward the green hexagonal block on the left front area of the table."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "62986b9f-7b22-4427-be60-a1efb293af37"}, {"label": "valid", "start_step": 0, "end_step": 2761, "id": "yK_ktKe5Cy3zDiC-tg781"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 210, "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 closes its fingers to grasp the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 214, "end_step": 426, "id": "5c50f22a-5e1d-4bd2-87bf-367cb00b038e"}, {"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 hexagonal block upwards off the black table 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 hexagonal block upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases the ring."}, {"label": "goal", "start_step": 427, "end_step": 537, "id": "40f83c9c-f873-414b-a2cd-b35d53d4d3dc"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "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 ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "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: hold: Right hand holds the white hexagonal nut on the black tabletop without moving."}, {"label": "goal", "start_step": 538, "end_step": 726, "id": "042d562d-5fb5-452e-8535-e9d6c284b123"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black tabletop and transports it above the front-left purple peg of the peg board."}, {"label": "subtasks", "start_step": 600, "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 nut with the front-left purple peg, inserting the peg through the nut's central hole until the nut touches the green base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to compact it firmly on the green base."}, {"label": "subtasks", "start_step": 720, "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: release: Right hand releases the white cylindrical block on the right purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 727, "end_step": 843, "id": "7ff886a1-1793-48ff-8a5b-de2553586bc2"}, {"label": "subtasks", "start_step": 742, "end_step": 809, "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 from the upper peg assembly toward the white hexagonal block on the lower left of the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing around the block to adjust the grip."}, {"label": "goal", "start_step": 844, "end_step": 1029, "id": "d52b2c6a-197b-4bef-a819-9805739f291c"}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the peg board on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 1057, "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 purple peg of the peg board, lowering it slowly along the peg."}, {"label": "goal", "start_step": 1030, "end_step": 1161, "id": "87c7179f-130e-43a9-a1f6-b52e070999ce"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "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 block on the leftmost purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "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 downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "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 to stabilize the grip."}, {"label": "goal", "start_step": 1162, "end_step": 1365, "id": "de2ba763-15cd-4ff1-a424-c8901aca9c6e"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table to the position above the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden test tube rack by aligning the block's hole with the rod and sliding it down the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00025", "text": "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 piece on the purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1366, "end_step": 1509, "id": "5b4d68e0-627b-4cb3-99cc-fbd1e19c5246"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1510, "end_step": 1674, "id": "579e7090-439e-4d47-a1c6-9e94c4948eec"}, {"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 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 rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "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 with the purple peg by lowering it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00030", "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": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block on the pegboard."}, {"label": "goal", "start_step": 1675, "end_step": 1785, "id": "91261b8b-b578-45c1-8447-2335824a7d58"}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes and adjusts its fingers around the white hexagonal block on the dark table surface to establish a grasp."}, {"label": "goal", "start_step": 1786, "end_step": 1944, "id": "b9fc57b7-c10f-4b0b-95d3-1be8b1826ae3"}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the peg on the green block in the middle of the table."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "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 white hexagonal block with the peg on the green block and fits it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "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 white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the green block of the wooden pegboard, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1945, "end_step": 2046, "id": "55f344e3-4b35-41f9-8abf-e14902ac6e59"}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "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 down-right towards the white hexagonal block on the table, without making contact with the target."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to establish stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00040", "text": "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-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2047, "end_step": 2205, "id": "d0834d27-b321-48ad-8f55-f3c98de21d94"}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position right above the purple vertical rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal part along the purple vertical rod to rest on the lower white part and releases the part."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod downward into the white cylindrical piece on the rack."}, {"label": "goal", "start_step": 2206, "end_step": 2286, "id": "39315056-0608-41e0-b452-b8609111805d"}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "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 hexagonal piece on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 2287, "end_step": 2448, "id": "02d3b83d-06e1-4d51-bb63-124b8eb74739"}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "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 block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod of the wooden rack, moving it downward until the block rests on the rack base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "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 cylinder on the right front of the wooden tray, with fingers opening and detaching from the cylinder."}, {"label": "goal", "start_step": 2449, "end_step": 2553, "id": "a2a4dfe7-5661-4b96-9415-ec6051f48552"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "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 toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "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 green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "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 green square block on the table surface without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "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 the green ring-shaped component on the right table surface, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2554, "end_step": 2718, "id": "db1ade9b-2c3b-46ae-baee-72dfd2801406"}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00055", "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-shaped component off the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "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-shaped component leftward and upward to the top of the rightmost white pillar with a purple tip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00057", "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 ring-shaped component with the rightmost white pillar, moving it downward to fit onto the pillar."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00058", "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-shaped component, with fingers opening and separating from the component."}, {"label": "home", "start_step": 2762, "end_step": 2792, "id": "2dMpxpqaYAOxWavOUjWc0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "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 toward the green hexagonal block on the left front area of the table."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "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: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 210, "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 closes its fingers to grasp the green hexagonal block on the black table surface."}, {"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 hexagonal block upwards off the black table 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 hexagonal block upward and rightward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block down onto the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the rightmost purple peg and releases the ring."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the black table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "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 ring on the black table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 525, "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: hold: Right hand holds the white hexagonal nut on the black tabletop without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black tabletop and transports it above the front-left purple peg of the peg board."}, {"label": "subtasks", "start_step": 600, "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 nut with the front-left purple peg, inserting the peg through the nut's central hole until the nut touches the green base."}, {"label": "subtasks", "start_step": 630, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal nut downward along the purple peg to compact it firmly on the green base."}, {"label": "subtasks", "start_step": 720, "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: release: Right hand releases the white cylindrical block on the right purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "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 from the upper peg assembly toward the white hexagonal block on the lower left of the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the lower left of the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table and transports it towards the peg board on the table."}, {"label": "subtasks", "start_step": 892, "end_step": 1057, "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 purple peg of the peg board, lowering it slowly along the peg."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "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 block on the leftmost purple rod, with fingers opening."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "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 downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1207, "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 to stabilize the grip."}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table to the position above the purple rod on the wooden test tube rack."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden test tube rack by aligning the block's hole with the rod and sliding it down the rod."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00025", "text": "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 piece on the purple peg of the wooden base, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"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 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 rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "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 with the purple peg by lowering it down along the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00030", "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": 1665, "end_step": 1694, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block on the pegboard."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1807, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes and adjusts its fingers around the white hexagonal block on the dark table surface to establish a grasp."}, {"label": "subtasks", "start_step": 1808, "end_step": 1837, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the peg on the green block in the middle of the table."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "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 white hexagonal block with the peg on the green block and fits it onto the peg."}, {"label": "subtasks", "start_step": 1868, "end_step": 1934, "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 white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block stacked on the green block of the wooden pegboard, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "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 down-right towards the white hexagonal block on the table, without making contact with the target."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to establish stable grip."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00040", "text": "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-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it to the position right above the purple vertical rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand lowers the white hexagonal part along the purple vertical rod to rest on the lower white part and releases the part."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod downward into the white cylindrical piece on the rack."}, {"label": "subtasks", "start_step": 2228, "end_step": 2241, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2317, "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 hexagonal piece on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "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 block off the table and transports it leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2362, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod of the wooden rack, moving it downward until the block rests on the rack base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "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 cylinder on the right front of the wooden tray, with fingers opening and detaching from the cylinder."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "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 toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "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 green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "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 green square block on the table surface without moving."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "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 the green ring-shaped component on the right table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00055", "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-shaped component off the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00056", "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-shaped component leftward and upward to the top of the rightmost white pillar with a purple tip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2699, "id": "reasoning-language-00057", "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 ring-shaped component with the rightmost white pillar, moving it downward to fit onto the pillar."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00058", "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-shaped component, with fingers opening and separating from the component."}], "episode_index": 11}
+{"source_uid": "2a27e18e7f3dd154", "num_frames": 2838, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost purple rod on the wooden base, not touching the rod yet."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "8ad6a6a2-bdf7-42b4-afc0-2589bffe329a"}, {"label": "valid", "start_step": 0, "end_step": 2808, "id": "sc_VXjGSbM4mgLLhppqp_"}, {"label": "subtasks", "start_step": 98, "end_step": 247, "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 touches the leftmost purple rod on the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 208, "end_step": 492, "id": "ba73075e-8be4-4699-bb25-f84e24dc6d45"}, {"label": "subtasks", "start_step": 248, "end_step": 277, "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 off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 479, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the green block with the purple peg and presses it down along the peg to secure the position."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 493, "end_step": 615, "id": "6b795703-e437-47e6-a765-f175296c344d"}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grip."}, {"label": "goal", "start_step": 616, "end_step": 795, "id": "424facaa-1aae-4bbd-b7ba-2cd9d051f7ef"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hex nut down along the purple rod to fix it at the target position."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block onto the wooden base with purple rods."}, {"label": "goal", "start_step": 796, "end_step": 909, "id": "cbb6138f-3b26-443d-a3c8-f7ded3dddf3e"}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 937, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 910, "end_step": 1062, "id": "76dd419f-1574-4caf-bff0-aa7c3545c9bb"}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the front left of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 1063, "end_step": 1188, "id": "c3595e40-09b4-45bf-952e-6aef0957dc77"}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "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 downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1132, "end_step": 1214, "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 adjusts its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1189, "end_step": 1341, "id": "d7a8f5d7-2400-4b0a-8ce4-4b0a13fd9574"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00021", "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 ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1342, "end_step": 1470, "id": "8218bc88-3a1a-4ea1-af1e-a51f12a2a193"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1491, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "goal", "start_step": 1471, "end_step": 1617, "id": "ba5d023e-079b-493e-867d-803ce0202cdb"}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00026", "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 cubic block onto the peg on the wooden base to complete the placement."}, {"label": "goal", "start_step": 1618, "end_step": 1719, "id": "c2286bd4-a7e3-4260-b739-eb5031c20120"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1720, "end_step": 1869, "id": "9146c00b-1323-4fb2-9f5a-609129cb2363"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with assembled blocks."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00030", "text": "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 object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the green block of the wooden base."}, {"label": "goal", "start_step": 1870, "end_step": 1983, "id": "4724a7aa-3954-4779-8246-4f1e8d8b9c18"}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop, with slight adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1984, "end_step": 2184, "id": "e30b2e9a-168b-4899-a965-f62cf7908d6d"}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "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 cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2174, "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 cylinder with the purple rod by lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers separate from the cylinder surface."}, {"label": "goal", "start_step": 2185, "end_step": 2280, "id": "d448935c-0cc9-442e-b732-3e8782841b3d"}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a grip."}, {"label": "goal", "start_step": 2281, "end_step": 2508, "id": "8b17cad9-2921-4eae-b82e-5f65a0c155cf"}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table and transports it to the upper side of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod and inserts the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder down onto the wooden tray until it is stably supported by the tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "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, with fingers opening to separate from the cylinder completely."}, {"label": "goal", "start_step": 2509, "end_step": 2625, "id": "b4d257e1-3b44-42b4-a486-c557418655e0"}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "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 white cylindrical block at the bottom right of the wooden base."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right part of the table."}, {"label": "goal", "start_step": 2626, "end_step": 2763, "id": "3ff57df2-c3b3-4d6f-816a-2d4954f0d818"}, {"label": "subtasks", "start_step": 2648, "end_step": 2661, "id": "reasoning-language-00048", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00049", "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 towards the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2744, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, opening fingers to separate from the block."}, {"label": "home", "start_step": 2809, "end_step": 2837, "id": "DEi8Myh8XFs59vao_jT66"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost purple rod on the wooden base, not touching the rod yet."}, {"label": "subtasks", "start_step": 98, "end_step": 247, "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 touches the leftmost purple rod on the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "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 off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 479, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the green block with the purple peg and presses it down along the peg to secure the position."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 561, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table to form a stable grip."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hex nut off the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hex nut with the target purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hex nut down along the purple rod to fix it at the target position."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block onto the wooden base with purple rods."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 937, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the front left of the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front left purple peg on the wooden base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "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 downwards towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1132, "end_step": 1214, "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 adjusts its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "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 block and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hollow block onto the purple peg and releases the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00021", "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 ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1491, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the target white pillar on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "id": "reasoning-language-00026", "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 cubic block onto the peg on the wooden base to complete the placement."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with assembled blocks."}, {"label": "subtasks", "start_step": 1792, "end_step": 1859, "id": "reasoning-language-00030", "text": "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 object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1927, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1928, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the black tabletop, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "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 cylinder off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2174, "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 cylinder with the purple rod by lowering it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2181, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder, fingers separate from the cylinder surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table and transports it to the upper side of the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod and inserts the cylinder onto the rod."}, {"label": "subtasks", "start_step": 2422, "end_step": 2504, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder down onto the wooden tray until it is stably supported by the tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00044", "text": "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, with fingers opening to separate from the cylinder completely."}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "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 white cylindrical block at the bottom right of the wooden base."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2572, "end_step": 2647, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the right part of the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2661, "id": "reasoning-language-00048", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2677, "id": "reasoning-language-00049", "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 towards the white bottle on the right of the wooden tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2744, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white bottle, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, opening fingers to separate from the block."}], "episode_index": 12}
+{"source_uid": "66acfad6dc4eebfd", "num_frames": 2468, "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 from pointing upward to pointing forward, staying at the left side of the workspace without contacting any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "ffe190c8-df39-4912-9117-18e5de7ae97e"}, {"label": "valid", "start_step": 0, "end_step": 2439, "id": "ICQrUkwB3ywtBsoriFUJv"}, {"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 workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, closes fingers around the block and adjusts finger positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table next to the wooden pegboard."}, {"label": "goal", "start_step": 205, "end_step": 384, "id": "9349a7a7-f2ad-4a62-be7e-9b491f98fe9a"}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves the block to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes fine adjustments to finger positions and wrist angle to stabilize the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal nut on the black table surface."}, {"label": "goal", "start_step": 385, "end_step": 483, "id": "73626061-fb77-41e0-accf-aa0b2e94aadd"}, {"label": "subtasks", "start_step": 420, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand fingers make contact with the white hexagonal nut, closing and adjusting contact points to establish grip."}, {"label": "goal", "start_step": 484, "end_step": 624, "id": "39676c27-8d5b-4b59-99f7-b7ce6d68995f"}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block fully off the table surface and transports it upward toward the wooden assembly board with purple pegs."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg on the wooden base, lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple peg, separating from contact with the block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand presses the white hexagonal block on the light purple peg vertically downward, pushing the block to seat against the green block below on the wooden pegboard."}, {"label": "goal", "start_step": 625, "end_step": 741, "id": "9b80fddb-d9b7-42da-b56d-4f045aedf1ee"}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden pegboard, approaching the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table."}, {"label": "goal", "start_step": 742, "end_step": 906, "id": "139a95e2-28fd-440e-89f5-03fcbc722dfe"}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface, then transports the nut upward toward the purple vertical rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with a target purple vertical rod, making slight finger and wrist adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the stacked hexagonal blocks on the wooden base toward the white hexagonal nut on the table adjacent to the base, with fingers slightly extended as it approaches the target."}, {"label": "goal", "start_step": 907, "end_step": 1020, "id": "0abfa219-9feb-4003-9b21-19d228f608ba"}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand curls its fingers around the adjacent white hexagonal nut on the table, making continuous small adjustments to finger positions and wrist angle to establish a secure grip on the nut, which remains on the table surface."}, {"label": "goal", "start_step": 1021, "end_step": 1167, "id": "682588be-85db-47c4-bd3f-88939e4678b1"}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating it from the table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, moves it downward to fit the block onto the purple post on the wooden base, and opens fingers to separate from the block."}, {"label": "goal", "start_step": 1168, "end_step": 1263, "id": "1b175bc9-6535-43cd-a728-ca04520501c4"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward across the dark table surface toward the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block, adjusts finger contact points and closes fingers to secure the block."}, {"label": "goal", "start_step": 1264, "end_step": 1383, "id": "68fb72cc-e307-4246-a14f-76770807c044"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple rod and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the blocks on the wooden base, separating from the stacked blocks."}, {"label": "goal", "start_step": 1384, "end_step": 1467, "id": "38446754-ac3c-45c7-8549-4036246d2a71"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1468, "end_step": 1602, "id": "da77bb81-773f-47d7-a9f4-08909a02c29d"}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block to the position above the purple vertical rod on the wooden block base, aligns the block's central hole with the rod, and fits the block onto the rod to form an assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand index finger presses down on the top surface of the upper white cylindrical block on the stacked assembly, applying downward vertical pressure to the block."}, {"label": "goal", "start_step": 1603, "end_step": 1695, "id": "f610b981-b8bd-4116-abdb-4441c364778b"}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves away from the stacked blocks toward the small white hexagonal block on the table adjacent to the wooden base, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grasp, with small fine-tuning movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the small white hexagonal block on the table near the wooden rack without moving."}, {"label": "goal", "start_step": 1696, "end_step": 1860, "id": "a924ff96-4795-4452-8133-dda2a960f6cf"}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand opens fingers to release the small white hexagonal block, moving upward with empty hand to approach the target white-and-green cylindrical block on the upper wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white-and-green cylindrical block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_place: Right hand carries the grasped white-and-green cylindrical block downward to the empty slot on the lower part of the wooden rack, placing the block until it is supported by the rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the placed white-and-green cylindrical block, moving slightly away from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "goal", "start_step": 1861, "end_step": 1929, "id": "e32f4fbf-0fc6-469f-9578-b1be1e159e7e"}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to hold the nut securely while the nut remains on the table surface."}, {"label": "goal", "start_step": 1930, "end_step": 2082, "id": "26b83cc0-6aa4-4143-8c59-e7c22792b8fb"}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand releases the small white-purple cylinder seated on the white base of the wooden rack, fingers opening and lifting away from the object's surface."}, {"label": "goal", "start_step": 2083, "end_step": 2184, "id": "07c0a461-fcd3-40dd-b6fc-5e053a0f6a8d"}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward toward the green cube resting on the black table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green cube, fingers closing incrementally and adjusting contact points to form a grip on the object."}, {"label": "goal", "start_step": 2185, "end_step": 2391, "id": "85d41b37-dcdf-4634-b2a8-0a4400bb8792"}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hollow block completely off the table surface and moves it toward the wooden block holding rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green hollow block with the target white cylindrical post on the rack and fits the block onto the post to form the assembled state."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the assembled green hollow block, separating the hand from the block surface."}, {"label": "home", "start_step": 2440, "end_step": 2467, "id": "SgvPtjmqxEdZiRPAsL9ce"}], "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 from pointing upward to pointing forward, staying at the left side of the workspace without contacting any objects. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"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 workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves from its initial raised position on the right side toward the green hexagonal block in front of the wooden block stand, adjusting finger posture as it approaches the target without making contact."}, {"label": "subtasks", "start_step": 128, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, closes fingers around the block and adjusts finger positions to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block resting on the table next to the wooden pegboard."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves the block to the position above the target purple peg on the pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit onto the peg."}, {"label": "subtasks", "start_step": 308, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes fine adjustments to finger positions and wrist angle to stabilize the green hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg with no observable movement."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the wooden peg board area toward the white hexagonal nut on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand fingers make contact with the white hexagonal nut, closing and adjusting contact points to establish grip."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal block fully off the table surface and transports it upward toward the wooden assembly board with purple pegs."}, {"label": "subtasks", "start_step": 532, "end_step": 591, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg on the wooden base, lowering the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 592, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block on the purple peg, separating from contact with the block."}, {"label": "subtasks", "start_step": 615, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand presses the white hexagonal block on the light purple peg vertically downward, pushing the block to seat against the green block below on the wooden pegboard."}, {"label": "subtasks", "start_step": 645, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward away from the wooden pegboard, approaching the white hexagonal block placed on the front table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal nut resting on the black table surface, with the nut remaining in contact with the table."}, {"label": "subtasks", "start_step": 765, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut fully off the black table surface, then transports the nut upward toward the purple vertical rods on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with a target purple vertical rod, making slight finger and wrist adjustments to fit the nut onto the rod for assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the stacked hexagonal blocks on the wooden base toward the white hexagonal nut on the table adjacent to the base, with fingers slightly extended as it approaches the target."}, {"label": "subtasks", "start_step": 945, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand curls its fingers around the adjacent white hexagonal nut on the table, making continuous small adjustments to finger positions and wrist angle to establish a secure grip on the nut, which remains on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, completely separating it from the table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport: Right hand carries the white hexagonal block upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1102, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white hexagonal block, moves it downward to fit the block onto the purple post on the wooden base, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward across the dark table surface toward the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand positions fingers around the target green hexagonal block, adjusts finger contact points and closes fingers to secure the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface and moves it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple rod and lowers the nut to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release contact with the blocks on the wooden base, separating from the stacked blocks."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the target without contact."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1492, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully separates from the table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hexagonal block to the position above the purple vertical rod on the wooden block base, aligns the block's central hole with the rod, and fits the block onto the rod to form an assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: press: Right hand index finger presses down on the top surface of the upper white cylindrical block on the stacked assembly, applying downward vertical pressure to the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves away from the stacked blocks toward the small white hexagonal block on the table adjacent to the wooden base, approaching the target while remaining empty."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, adjusting finger positions and closing fingers around the block to form a grasp, with small fine-tuning movements of the fingers and wrist."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the small white hexagonal block on the table near the wooden rack without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand opens fingers to release the small white hexagonal block, moving upward with empty hand to approach the target white-and-green cylindrical block on the upper wooden rack."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the target white-and-green cylindrical block, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: transport_place: Right hand carries the grasped white-and-green cylindrical block downward to the empty slot on the lower part of the wooden rack, placing the block until it is supported by the rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens fingers to release the placed white-and-green cylindrical block, moving slightly away from the block."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1898, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting grip to hold the nut securely while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1980, "end_step": 2069, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod to complete the nesting assembly."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand releases the small white-purple cylinder seated on the white base of the wooden rack, fingers opening and lifting away from the object's surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward toward the green cube resting on the black table surface, fingers held slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2138, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green cube, fingers closing incrementally and adjusting contact points to form a grip on the object."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the green hollow block completely off the table surface and moves it toward the wooden block holding rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green hollow block with the target white cylindrical post on the rack and fits the block onto the post to form the assembled state."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement of the hand or fingers. | Right hand: release: Right hand opens its fingers to release the assembled green hollow block, separating the hand from the block surface."}], "episode_index": 13}
+{"source_uid": "e12a2c0a8513849d", "num_frames": 2769, "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": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block at the left front of the wooden rack, moving leftward and slightly downward with wrist rotating slightly."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "2707931b-aa20-4d38-8055-edc9a9f8f633"}, {"label": "valid", "start_step": 0, "end_step": 2739, "id": "K8r8x3RbPHmEy_dIi-StT"}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 199, "end_step": 459, "id": "691a0887-d03c-44f9-9e0f-80f14e13721d"}, {"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 table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the leftmost purple peg to the bottom position."}, {"label": "subtasks", "start_step": 338, "end_step": 449, "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 of the wooden rack without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 460, "end_step": 558, "id": "79579904-60a9-4cdd-bd1a-7dab4b22007b"}, {"label": "subtasks", "start_step": 480, "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 down toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal part from the black table surface."}, {"label": "goal", "start_step": 559, "end_step": 702, "id": "01d3a8b1-3c23-4f30-956a-b583f2b66e74"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal part towards the leftmost purple peg on the central green base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "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 hollow hexagonal part onto the leftmost purple peg by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "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 hollow hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring part onto the purple peg of the block set and releases the part."}, {"label": "goal", "start_step": 703, "end_step": 813, "id": "f697061e-06a5-4cdf-895d-38b2cd81ddd2"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 toward the white hexagonal part on the left side of the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 814, "end_step": 1044, "id": "787f8935-bf78-4507-a525-42dd7cf41c19"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the peg rack."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg rack, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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 leftmost peg of the peg rack without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the middle peg of the upper block set, with fingers gradually opening and separating from the block."}, {"label": "goal", "start_step": 1045, "end_step": 1152, "id": "2747cd59-dfa6-4267-a47d-796016038f80"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the purple peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes its fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "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 in the air above the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal part on the black table, adjusting its grip with fingers while the part stays supported by the table surface."}, {"label": "goal", "start_step": 1153, "end_step": 1386, "id": "ff04f30f-0d3e-431a-9c73-0bfbf65861e9"}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the table and transports it toward the middle purple vertical peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00030", "text": "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 onto the middle purple vertical peg by aligning the part's hole with the peg and lowering the part down."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part fitted on the middle purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the middle purple vertical peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the purple peg of the stacking set and releases the ring."}, {"label": "goal", "start_step": 1387, "end_step": 1485, "id": "41666918-9cd2-4941-b9c1-c91e82af4bba"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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": 1486, "end_step": 1650, "id": "69571401-279f-4f26-a95c-eaaf23582ef6"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the corresponding peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden board without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block fitted on the purple rod of the wooden building set."}, {"label": "goal", "start_step": 1651, "end_step": 1761, "id": "06b585a5-3759-429a-bf5b-d8b752c5a326"}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "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 hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1762, "end_step": 1962, "id": "22538212-e852-4199-a73a-9247701fb7ca"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "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 hexagonal block off the table and transports it toward the wooden peg board in the middle of the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "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 mates the white hexagonal block onto the target peg on the wooden board, aligning the block's hole with the peg and pressing down to fit."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "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 wooden peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers gradually opening to separate from the piece."}, {"label": "goal", "start_step": 1963, "end_step": 2043, "id": "1ee7c040-f6e7-495b-b813-df08d531b41e"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left 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 with a hole on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 2044, "end_step": 2184, "id": "9658f784-cfd2-447b-9c05-a62a927a3250"}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left 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 part off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "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 white hollow cylindrical part with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 2185, "end_step": 2256, "id": "105dd1f0-2085-4e5c-803a-3daef5f9ab27"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "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 the white hexagonal object on the black table surface, with fingers closing around the object."}, {"label": "goal", "start_step": 2257, "end_step": 2406, "id": "c53c0be3-fad2-40e9-ba5c-e62697bde45f"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "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 mates the white cylindrical object with the purple rod, lowering the object along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "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 cylindrical object by opening its fingers to separate from the object."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the wooden base without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white-green cylinder on the wooden tray and reaches downward toward the green cubic block on the table."}, {"label": "goal", "start_step": 2407, "end_step": 2484, "id": "ec379177-241e-4912-b2ae-dda3843de110"}, {"label": "subtasks", "start_step": 2445, "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: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2485, "end_step": 2691, "id": "0dd63119-c35e-4f4b-a00a-973d3415f23f"}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward toward the white cylinder group on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2677, "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 mates the green block onto the rightmost white cylinder by aligning and pressing it downward to complete assembly."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "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 rightmost white cylinder without moving."}, {"label": "home", "start_step": 2740, "end_step": 2768, "id": "dBeANjHUSwgYSWgpGe3Ms"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block at the left front of the wooden rack, moving leftward and slightly downward with wrist rotating slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table surface without moving."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it to the position above the leftmost purple peg of the wooden rack."}, {"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 table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the leftmost purple peg to the bottom position."}, {"label": "subtasks", "start_step": 338, "end_step": 449, "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 of the wooden rack without moving."}, {"label": "subtasks", "start_step": 450, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green cubic block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 480, "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 down toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal part from the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow hexagonal part towards the leftmost purple peg on the central green base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "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 hollow hexagonal part onto the leftmost purple peg by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 638, "end_step": 689, "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 hollow hexagonal part on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white ring part onto the purple peg of the block set and releases the part."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "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 toward the white hexagonal part on the left side of the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal part on the table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part on the table surface without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the peg rack."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg rack, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 1034, "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 leftmost peg of the peg rack without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the middle peg of the upper block set, with fingers gradually opening and separating from the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the purple peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes its fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "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 in the air above the table without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal part on the black table, adjusting its grip with fingers while the part stays supported by the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal part from the table and transports it toward the middle purple vertical peg."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00030", "text": "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 onto the middle purple vertical peg by aligning the part's hole with the peg and lowering the part down."}, {"label": "subtasks", "start_step": 1245, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal part fitted on the middle purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal part on the middle purple vertical peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal ring onto the purple peg of the stacking set and releases the ring."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1432, "end_step": 1514, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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": 1515, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the pegs on the wooden board."}, {"label": "subtasks", "start_step": 1545, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the corresponding peg on the wooden board and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden board without moving."}, {"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 table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block fitted on the purple rod of the wooden building set."}, {"label": "subtasks", "start_step": 1672, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table, with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "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 hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1807, "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 grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "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 hexagonal block off the table and transports it toward the wooden peg board in the middle of the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "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 mates the white hexagonal block onto the target peg on the wooden board, aligning the block's hole with the peg and pressing down to fit."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "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 wooden peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers gradually opening to separate from the piece."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left 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 with a hole on the black table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00050", "text": "Left 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 part off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "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 white hollow cylindrical part with the purple rod and fits it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder on the purple rod of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal object on the black table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "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 the white hexagonal object on the black table surface, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "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 mates the white cylindrical object with the purple rod, lowering the object along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "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 cylindrical object by opening its fingers to separate from the object."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty beside the wooden base without moving."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white-green cylinder on the wooden tray and reaches downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2445, "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: grasp: Right hand grasps the green cubic block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2505, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2541, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward toward the white cylinder group on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2677, "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 mates the green block onto the rightmost white cylinder by aligning and pressing it downward to complete assembly."}, {"label": "subtasks", "start_step": 2678, "end_step": 2699, "id": "reasoning-language-00066", "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 rightmost white cylinder without moving."}], "episode_index": 14}
+{"source_uid": "3d5af9051c3e7ced", "num_frames": 3444, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the white sleeve mounted on the rightmost purple rod of the central wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 231, "id": "e098d070-ea0e-4620-8b88-0325fcc6f88b"}, {"label": "valid", "start_step": 0, "end_step": 3414, "id": "ra_EaWxzDhdx_eSCHQeaA"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white sleeve on the rightmost purple rod, adjusting grip to stabilize the sleeve."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white sleeve upwards and outwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the removed white sleeve downwards towards the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white sleeve onto the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the green block on the table in front of the wooden rack and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target purple peg on the wooden base."}, {"label": "goal", "start_step": 232, "end_step": 387, "id": "f7b2e25f-1010-41d9-8c08-f08e98042c3e"}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "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 target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 388, "end_step": 483, "id": "8b1d3760-3fb7-4182-b43d-41d4621906d2"}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00011", "text": "Left 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 tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 484, "end_step": 1101, "id": "bf6fe19f-1af4-4c5c-a45c-deea37e9e67d"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod, then releases the block which falls onto the table."}, {"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 table without moving. | Right hand: reach: Right hand reaches towards the lower white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 862, "end_step": 1094, "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, adjusting the position to fit properly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1102, "end_step": 1233, "id": "f0be5529-eb6c-4f6e-a00d-7d3d0a2ff6b7"}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "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 black tabletop."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1234, "end_step": 1404, "id": "e2036709-ca2e-4cd8-a42e-a15e6b98c3d2"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 from the tabletop and moves it towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple pillar on the wooden base and inserts it down onto the pillar."}, {"label": "goal", "start_step": 1405, "end_step": 1524, "id": "e89e28fa-f2f5-4fb7-8c1d-037d5b5dff26"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop near the wooden base."}, {"label": "goal", "start_step": 1525, "end_step": 1995, "id": "9a830e40-a1a3-4065-bb1e-64923cc536c4"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 2024, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "goal", "start_step": 1996, "end_step": 2073, "id": "69759a1c-fb7c-4406-afb9-cca8f277e718"}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2099, "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 square block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2074, "end_step": 2223, "id": "adccf7a2-dae3-42d3-87a6-5f26694efb2d"}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00034", "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 along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "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 hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "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 ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2224, "end_step": 2313, "id": "cbfefe40-8075-4168-8dcd-66dda46a85cb"}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "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 with fingers closing."}, {"label": "goal", "start_step": 2314, "end_step": 2457, "id": "ed540429-6c71-4c9c-944b-f363e12dd433"}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "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 white hollow cylinder with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, with fingers gradually opening."}, {"label": "goal", "start_step": 2458, "end_step": 2556, "id": "29de7dd7-2726-4545-af8a-a4bd0037c35a"}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "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 cylindrical block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2579, "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 grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 2557, "end_step": 2907, "id": "5951182a-4bc0-4f02-8ffb-8bb390e96681"}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "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 hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2894, "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 hexagonal block with the purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "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 white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2908, "end_step": 2991, "id": "e75839d7-2d3a-4f72-a1fc-f716671e22c2"}, {"label": "subtasks", "start_step": 2925, "end_step": 2954, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2992, "end_step": 3138, "id": "3715b9d3-b746-4652-b634-85c547544eee"}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3141, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "goal", "start_step": 3139, "end_step": 3234, "id": "71d5ae77-55c2-4993-868e-4dbf5e626430"}, {"label": "subtasks", "start_step": 3142, "end_step": 3149, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the lower right of the table."}, {"label": "subtasks", "start_step": 3195, "end_step": 3254, "id": "reasoning-language-00055", "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 cubic block on the table surface."}, {"label": "goal", "start_step": 3235, "end_step": 3360, "id": "85a7c597-0c1d-4357-9605-5f01f0d06473"}, {"label": "subtasks", "start_step": 3255, "end_step": 3329, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00057", "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 ring onto the top of the white bottle with purple top, adjusting its position to fit."}, {"label": "subtasks", "start_step": 3368, "end_step": 3374, "id": "reasoning-language-00058", "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 after it is properly placed on the bottle."}, {"label": "home", "start_step": 3415, "end_step": 3443, "id": "ixBObiZ2UghlLz1UzPJbp"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward towards the white sleeve mounted on the rightmost purple rod of the central wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white sleeve on the rightmost purple rod, adjusting grip to stabilize the sleeve."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white sleeve upwards and outwards to remove it from the purple rod."}, {"label": "subtasks", "start_step": 150, "end_step": 187, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the removed white sleeve downwards towards the table surface in front of the wooden rack."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white sleeve onto the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand reaches towards the green block on the table in front of the wooden rack and grasps it with closing fingers."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00008", "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 target purple peg."}, {"label": "subtasks", "start_step": 308, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 427, "id": "reasoning-language-00011", "text": "Left 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 tabletop."}, {"label": "subtasks", "start_step": 428, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block with the purple rod, then releases the block which falls onto the table."}, {"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 table without moving. | Right hand: reach: Right hand reaches towards the lower white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 831, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the lower white hexagonal block, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "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 grasped white hexagonal block and transports it towards the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 862, "end_step": 1094, "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, adjusting the position to fit properly."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block placed on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "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 black tabletop."}, {"label": "subtasks", "start_step": 1170, "end_step": 1259, "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 closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "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 from the tabletop and moves it towards the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple pillar on the wooden base and inserts it down onto the pillar."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1559, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop near the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 2024, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2047, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 2048, "end_step": 2099, "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 square block on the tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2151, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green hexagonal block with the top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2204, "id": "reasoning-language-00034", "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 along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "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 hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "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 ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "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 with fingers closing."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "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 white hollow cylinder with the purple rod and mates it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2481, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod, with fingers gradually opening."}, {"label": "subtasks", "start_step": 2482, "end_step": 2511, "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 cylindrical block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2512, "end_step": 2579, "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 grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 2580, "end_step": 2639, "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 hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2640, "end_step": 2894, "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 hexagonal block with the purple rod and lowers it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "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 white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2925, "end_step": 2954, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 3014, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3141, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 3142, "end_step": 3149, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly upward."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to fix it in place."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the lower right of the table."}, {"label": "subtasks", "start_step": 3195, "end_step": 3254, "id": "reasoning-language-00055", "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 cubic block on the table surface."}, {"label": "subtasks", "start_step": 3255, "end_step": 3329, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring from the table surface and transports it towards the white bottle with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3330, "end_step": 3367, "id": "reasoning-language-00057", "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 ring onto the top of the white bottle with purple top, adjusting its position to fit."}, {"label": "subtasks", "start_step": 3368, "end_step": 3374, "id": "reasoning-language-00058", "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 after it is properly placed on the bottle."}], "episode_index": 15}
+{"source_uid": "b6247524866b7c58", "num_frames": 2653, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves forward and left toward the green hexagonal block positioned in front left of the wooden peg stand, with fingers slightly extended as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "514b8f03-ce22-4c23-b420-afa1530c123a"}, {"label": "valid", "start_step": 0, "end_step": 2623, "id": "ZKLTDffBPmCLgedhl17_V"}, {"label": "subtasks", "start_step": 128, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block with minor wrist and finger adjustments visible as it forms a grasp."}, {"label": "goal", "start_step": 178, "end_step": 483, "id": "0d254f7f-1bb9-4ecc-a330-d82706613f0f"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally and upward to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to fit onto the peg, and makes fine positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden assembly rack area toward the white hexagonal nut on the table, remaining empty with fingers open."}, {"label": "goal", "start_step": 484, "end_step": 600, "id": "53889eff-619d-47de-a438-215e880719f2"}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closes fingers and makes slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table surface, and lifts it upward until the block is fully raised off the table."}, {"label": "goal", "start_step": 601, "end_step": 795, "id": "1a9c76c6-8cce-4d37-a50c-c4c192aa463c"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and rightward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, and lowers the block to fit it securely onto the post."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block stably on the purple post without visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white hexagonal sleeve onto the purple upright rod on the wooden base, opening fingers to release contact with the sleeve."}, {"label": "goal", "start_step": 796, "end_step": 891, "id": "82a39550-0984-41d8-b6d6-330c50878268"}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger and wrist adjustments to establish a secure grasp."}, {"label": "goal", "start_step": 892, "end_step": 1083, "id": "f30bef49-f1c0-4afb-9b07-1fa5b18ca931"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves the block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple rod on the wooden rack and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod fixed on the wooden base and releases the block by opening its fingers."}, {"label": "goal", "start_step": 1084, "end_step": 1200, "id": "b037cc79-a929-4e76-8bc7-a4d989b46d1b"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers and wrist around the white hexagonal block on the table to form a stable grasp, with continuous slight movements."}, {"label": "goal", "start_step": 1201, "end_step": 1341, "id": "cdaeeb8f-7d74-4002-8c35-399f8a819e9a"}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to nest it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand, empty, moves downward and forward from the position above the wooden pegboard toward the front green hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1342, "end_step": 1416, "id": "2ab2e7d8-7ef3-4057-a56f-9456269feef5"}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, fingers close around the block to adjust and establish the grasp."}, {"label": "goal", "start_step": 1417, "end_step": 1551, "id": "b79b1cd6-a907-4024-a492-4e59a9661353"}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green block to align its central hole with the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand lowers the aligned green block down along the purple rod until it rests steadily on the existing green block on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand stays above the wooden block base, fingers gradually open and move away from the stacked blocks on the base, losing contact with all blocks by the end of the segment."}, {"label": "goal", "start_step": 1552, "end_step": 1656, "id": "16de9a06-bbfd-4104-a105-065bc7c87756"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, with no contact to any object during the movement."}, {"label": "subtasks", "start_step": 1598, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and makes slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1657, "end_step": 1821, "id": "3c783605-0d13-4f69-abdf-e2ccdff0f1c8"}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves from the area above the wooden block base toward the white hexagonal nut on the adjacent table surface, approaching the target with an empty hand."}, {"label": "goal", "start_step": 1822, "end_step": 1911, "id": "77be8367-4342-40d2-bb44-e1807a3c7ae8"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface with no detectable movement of the hand, fingers or the held object."}, {"label": "goal", "start_step": 1912, "end_step": 2073, "id": "6ac4d6c6-18dd-45dd-80fb-64f9b4c70509"}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the white hexagonal part upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal part over to the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and seats it down onto the stacked parts below."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal part on the purple rod."}, {"label": "goal", "start_step": 2074, "end_step": 2157, "id": "b048b805-3c8a-40b2-8fe9-9f37c49efa3e"}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the dark table surface, remaining empty and not yet touching the nut."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the dark table surface and adjusts finger positions to close around it."}, {"label": "goal", "start_step": 2158, "end_step": 2301, "id": "fd1c430c-d899-42ad-9e5d-fff8eac6caf4"}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the gripped white cylindrical object off the table surface, then transports it upward and leftward to the position directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand slightly adjusts the position of the white cylindrical object to align its central hole with the top of the purple rod, fitting the rod tip into the hole."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand lowers the white cylindrical object down along the purple rod until it rests stably on the wooden tray base, then opens fingers to release contact with the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area adjacent to the stacked white bottles toward the green square block resting on the dark table surface."}, {"label": "goal", "start_step": 2302, "end_step": 2394, "id": "0b32c1e2-88c3-41ca-a2d1-8e2ce9a60f5f"}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing its fingers and making small positional adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2395, "end_step": 2580, "id": "9e0a4144-180a-44dd-b5a0-42ec7a4eb6c1"}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moving it upward and leftward to the position above the empty slot on the white wooden block tray."}, {"label": "subtasks", "start_step": 2468, "end_step": 2549, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the green hexagonal block with the empty slot on the white block tray, lowering it to fit into the slot."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand sets the green hexagonal block fully into the slot until the block is stably supported by the tray."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating from the block as fingers spread outward."}, {"label": "home", "start_step": 2624, "end_step": 2652, "id": "tm-UMcc7MMFYc-cq_c3JU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves forward and left toward the green hexagonal block positioned in front left of the wooden peg stand, with fingers slightly extended as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 277, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block with minor wrist and finger adjustments visible as it forms a grasp."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 292, "end_step": 307, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally and upward to the position directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 308, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, moves the block downward to fit onto the peg, and makes fine positional adjustments to properly seat the block on the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden assembly rack area toward the white hexagonal nut on the table, remaining empty with fingers open."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, closes fingers and makes slight adjustments to form a stable grip on the nut."}, {"label": "subtasks", "start_step": 562, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut steadily on the table surface without any movement."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the black table surface, and lifts it upward until the block is fully raised off the table."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and rightward to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple post, and lowers the block to fit it securely onto the post."}, {"label": "subtasks", "start_step": 705, "end_step": 794, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block stably on the purple post without visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white hexagonal sleeve onto the purple upright rod on the wooden base, opening fingers to release contact with the sleeve."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger and wrist adjustments to establish a secure grasp."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves the block toward the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1079, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the held white hexagonal block with the target purple rod on the wooden rack and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod fixed on the wooden base and releases the block by opening its fingers."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward with empty hand toward the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers and wrist around the white hexagonal block on the table to form a stable grasp, with continuous slight movements."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to nest it onto the rod."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal block seated on the purple rod."}, {"label": "subtasks", "start_step": 1335, "end_step": 1387, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand, empty, moves downward and forward from the position above the wooden pegboard toward the front green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block, fingers close around the block to adjust and establish the grasp."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1537, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand makes slight adjustments to the position and orientation of the green block to align its central hole with the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand lowers the aligned green block down along the purple rod until it rests steadily on the existing green block on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand stays above the wooden block base, fingers gradually open and move away from the stacked blocks on the base, losing contact with all blocks by the end of the segment."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, with no contact to any object during the movement."}, {"label": "subtasks", "start_step": 1598, "end_step": 1679, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closes fingers and makes slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the dark table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1814, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves from the area above the wooden block base toward the white hexagonal nut on the adjacent table surface, approaching the target with an empty hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: hold: Right hand holds the grasped white hexagonal nut on the table surface with no detectable movement of the hand, fingers or the held object."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift: Right hand lifts the white hexagonal part upward until it is fully off the table surface."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal part over to the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2069, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and seats it down onto the stacked parts below."}, {"label": "subtasks", "start_step": 2070, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal part on the purple rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut on the dark table surface, remaining empty and not yet touching the nut."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the dark table surface and adjusts finger positions to close around it."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the gripped white cylindrical object off the table surface, then transports it upward and leftward to the position directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand slightly adjusts the position of the white cylindrical object to align its central hole with the top of the purple rod, fitting the rod tip into the hole."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place_release: Right hand lowers the white cylindrical object down along the purple rod until it rests stably on the wooden tray base, then opens fingers to release contact with the object."}, {"label": "subtasks", "start_step": 2295, "end_step": 2354, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area adjacent to the stacked white bottles toward the green square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green square block on the table, closing its fingers and making small positional adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2422, "end_step": 2467, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moving it upward and leftward to the position above the empty slot on the white wooden block tray."}, {"label": "subtasks", "start_step": 2468, "end_step": 2549, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: mate: Right hand aligns the green hexagonal block with the empty slot on the white block tray, lowering it to fit into the slot."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: place: Right hand sets the green hexagonal block fully into the slot until the block is stably supported by the tray."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, separating from the block as fingers spread outward."}], "episode_index": 16}
+{"source_uid": "86b39f3e93040304", "num_frames": 3100, "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_hand_pose: Left hand adjusts its wrist and finger posture slightly at the left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"label": "goal", "start_step": 0, "end_step": 222, "id": "5d4cf345-edb5-4e75-91d6-90e16ed4ef22"}, {"label": "valid", "start_step": 0, "end_step": 3070, "id": "7ptSFz3RW4ktEV0cTRrV2"}, {"label": "subtasks", "start_step": 38, "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 from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cube on the table in front of the wooden peg base, with fingers closing and adjusting to stabilize the grip."}, {"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 table without moving. | Right hand: hold: Right hand holds the green cube on the table in front of the wooden peg base without moving."}, {"label": "subtasks", "start_step": 210, "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: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "goal", "start_step": 223, "end_step": 438, "id": "fb4a9711-136b-47ef-82a6-cedc4da54b7f"}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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 to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, pushing the block downward along the peg during the assembly process."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "goal", "start_step": 439, "end_step": 621, "id": "ff5204bb-cc57-4d05-99b3-eec9665b0dd8"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 480, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 659, "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": "goal", "start_step": 622, "end_step": 819, "id": "c096d5f8-7df5-4b60-b7eb-0396ff1a5413"}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 820, "end_step": 945, "id": "4988cfa1-8586-4659-9fb0-f358edd70957"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 reaches toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 870, "end_step": 981, "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": 946, "end_step": 1146, "id": "c2cc778a-e48c-4398-bd5d-d46c89459828"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden assembly rack and inserts it downward."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "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 hexagonal part on the purple peg of the assembly rack without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 piece on the purple rod of the pegboard, with fingers gradually opening to separate from the piece."}, {"label": "goal", "start_step": 1147, "end_step": 1299, "id": "9af69675-dfa7-4bbb-972c-d56f3641fb1a"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table in front of the pegboard."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 black table near the wooden peg board, adjusting its grip with fingers."}, {"label": "goal", "start_step": 1300, "end_step": 1485, "id": "59446036-2bab-4806-b2f8-109407999602"}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 off the table and transports it upward to above the middle purple peg of the peg board."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "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 part onto the middle purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple peg with fingers opening."}, {"label": "goal", "start_step": 1486, "end_step": 1587, "id": "301e18b5-fed0-4ed9-a70c-47456943fad9"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, not yet making contact with the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 1588, "end_step": 1755, "id": "0b52bf40-bd79-4b4f-9cf1-e4c5af8876e0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the white peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube fitted on the white peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1756, "end_step": 1881, "id": "a0c18ea2-ec73-43d6-bd38-db793984f255"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, not yet touching it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "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 grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1882, "end_step": 2049, "id": "d9ae0f16-557b-4a66-b765-cef46ca2134f"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it to the position above the wooden peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the corresponding peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the peg to fix it firmly in place."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the block set, with fingers opening and separating from the rod."}, {"label": "goal", "start_step": 2050, "end_step": 2175, "id": "ad231a3b-8d25-45f3-9c29-278e3e45a530"}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder on the table next to the block set."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "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 hexagonal cylinder on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the table next to the wooden tray, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2176, "end_step": 2373, "id": "d0dca040-d9e2-4024-81a3-570c8d8497ca"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden tray and inserts it downward onto the rod until the object rests on the wooden tray."}, {"label": "subtasks", "start_step": 2370, "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: press_release: Right hand presses the purple rod into the top of the rightmost white block on the wooden rack and releases it."}, {"label": "goal", "start_step": 2374, "end_step": 2466, "id": "700b9d0c-40b9-495f-b00e-64d9f9010933"}, {"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: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "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 hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 2467, "end_step": 2724, "id": "74ac5115-6894-4ea6-8f0e-6cb47e880f1f"}, {"label": "subtasks", "start_step": 2490, "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: lift_transport: Right hand lifts the white cylindrical block off the table and transports it leftward to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2684, "id": "reasoning-language-00057", "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 moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00058", "text": "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 fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost position of the wooden tray, with fingers opening gradually."}, {"label": "goal", "start_step": 2725, "end_step": 2853, "id": "fb44f8a8-45f6-49b0-820e-b459a97b7afd"}, {"label": "subtasks", "start_step": 2745, "end_step": 2797, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2798, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2812, "end_step": 2849, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2850, "end_step": 2879, "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 block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2854, "end_step": 3030, "id": "82bd493b-0ac6-4359-9515-71ae0bbb52b4"}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "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 off the table and transports it toward the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2940, "end_step": 3029, "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 aligns the green block with the top of the rightmost bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 3030, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers, separating from the block."}, {"label": "home", "start_step": 3071, "end_step": 3099, "id": "XKO3nkS3-ESnpwF06oTKN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand adjusts its wrist and finger posture slightly at the left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"label": "subtasks", "start_step": 38, "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 from the right side of the table toward the green cube in front of the wooden peg base, keeping fingers open."}, {"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 table without moving. | Right hand: grasp: Right hand grasps the green cube on the table in front of the wooden peg base, with fingers closing and adjusting to stabilize the grip."}, {"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 table without moving. | Right hand: hold: Right hand holds the green cube on the table in front of the wooden peg base without moving."}, {"label": "subtasks", "start_step": 210, "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: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table 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 to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg, pushing the block downward along the peg during the assembly process."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the leftmost purple peg."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 480, "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: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 659, "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": 660, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the pegboard with purple pegs."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and lowering it."}, {"label": "subtasks", "start_step": 735, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "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 reaches toward the white hexagonal block on the lower left area of the table."}, {"label": "subtasks", "start_step": 870, "end_step": 981, "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": 982, "end_step": 1004, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the wooden assembly rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the purple peg on the wooden assembly rack and inserts it downward."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "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 hexagonal part on the purple peg of the assembly rack without moving."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "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 piece on the purple rod of the pegboard, with fingers gradually opening to separate from the piece."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the black table in front of the pegboard."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "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 piece on the black table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the black table without moving."}, {"label": "subtasks", "start_step": 1290, "end_step": 1341, "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 black table near the wooden peg board, adjusting its grip with fingers."}, {"label": "subtasks", "start_step": 1342, "end_step": 1379, "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 off the table and transports it upward to above the middle purple peg of the peg board."}, {"label": "subtasks", "start_step": 1380, "end_step": 1477, "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 part onto the middle purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 1478, "end_step": 1514, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part on the purple peg with fingers opening."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table, not yet making contact with the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 1612, "end_step": 1641, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it upward toward the peg board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the white peg on the wooden base and fits it onto the peg."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube fitted on the white peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, not yet touching it."}, {"label": "subtasks", "start_step": 1822, "end_step": 1851, "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 grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "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 black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it to the position above the wooden peg rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the corresponding peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the peg to fix it firmly in place."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the purple rod on the block set, with fingers opening and separating from the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal cylinder on the table next to the block set."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "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 hexagonal cylinder on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2145, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal cylinder on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the table next to the wooden tray, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden tray and inserts it downward onto the rod until the object rests on the wooden tray."}, {"label": "subtasks", "start_step": 2370, "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: press_release: Right hand presses the purple rod into the top of the rightmost white block on the wooden rack and releases it."}, {"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: reach: Right hand reaches downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 2452, "end_step": 2459, "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 hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2460, "end_step": 2489, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 2490, "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: lift_transport: Right hand lifts the white cylindrical block off the table and transports it leftward to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2535, "end_step": 2684, "id": "reasoning-language-00057", "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 moves it downward to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00058", "text": "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 fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white bottle with a purple rod at the rightmost position of the wooden tray, with fingers opening gradually."}, {"label": "subtasks", "start_step": 2745, "end_step": 2797, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2798, "end_step": 2811, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2812, "end_step": 2849, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2850, "end_step": 2879, "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 block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2880, "end_step": 2939, "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 off the table and transports it toward the rightmost bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2940, "end_step": 3029, "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 aligns the green block with the top of the rightmost bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 3030, "end_step": 3044, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers, separating from the block."}], "episode_index": 17}
+{"source_uid": "ad422fbefd26fc69", "num_frames": 2732, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with no contact to any object. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "c8de5cd4-b156-46d6-9e1b-ffe0faf80dc6"}, {"label": "valid", "start_step": 0, "end_step": 2703, "id": "znGqrYqTZztfEf7rbetOq"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylinder on the wooden rack, adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "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 white cylinder on the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "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 block from the black table surface."}, {"label": "goal", "start_step": 211, "end_step": 381, "id": "6c9803de-41d5-4918-9810-d70b654b7729"}, {"label": "subtasks", "start_step": 225, "end_step": 269, "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 block above the peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "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 block down onto the peg of the wooden base to secure it."}, {"label": "goal", "start_step": 382, "end_step": 492, "id": "6563cc34-354e-439d-aad7-c74285aa86ad"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "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 closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "goal", "start_step": 493, "end_step": 675, "id": "c3eaae9f-f06f-4f0f-ad2c-e3a41727d523"}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 600, "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: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"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_release: Right hand fits the white ring onto the purple peg on the wooden base and releases the ring."}, {"label": "goal", "start_step": 676, "end_step": 795, "id": "40602e9f-1914-4cfc-afe4-a8ef4880f3cf"}, {"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 towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 796, "end_step": 969, "id": "3af6c476-f21b-4918-84e8-e80f4474a3e1"}, {"label": "subtasks", "start_step": 825, "end_step": 877, "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 green base."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "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 onto the purple rod of the green base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "goal", "start_step": 970, "end_step": 1092, "id": "31b4df4a-71d1-483a-b8b7-9125e0d3ec5b"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "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 closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1093, "end_step": 1254, "id": "5e994974-52ae-4b5c-a838-571486755fca"}, {"label": "subtasks", "start_step": 1118, "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: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1245, "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: release: Right hand releases the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 1255, "end_step": 1356, "id": "bb53b289-f26a-4a0d-b3f8-0e54c4ed82b0"}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1357, "end_step": 1545, "id": "96c401eb-c496-40f2-9c0c-ad799bdcb30e"}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00030", "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 white peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1662, "id": "1f737e36-7b44-4451-86ed-871854dc3c15"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 1663, "end_step": 1842, "id": "00a35c4e-d4ac-4047-979d-67341fda5eca"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "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 cylindrical block off the table and transports it towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "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 green block placed on the white cylindrical block, fingers open gradually."}, {"label": "goal", "start_step": 1843, "end_step": 1953, "id": "9f99eaee-e313-4e59-b928-5b26d619eca0"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "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 toward the white cylinder on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black table, fingers close around the cylinder to adjust the grip."}, {"label": "goal", "start_step": 1954, "end_step": 2130, "id": "12e7aa44-9912-407f-b44f-ba6ead3a8206"}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block down onto the purple rod on the wooden tray until it is supported."}, {"label": "subtasks", "start_step": 2130, "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: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "goal", "start_step": 2131, "end_step": 2220, "id": "4bcba8a8-d1ac-4829-af39-75d945e918cf"}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden tray, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 black table surface, not touching the block yet."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close to adjust and establish stable grasp on the block."}, {"label": "goal", "start_step": 2221, "end_step": 2376, "id": "a85f4ffe-e226-4bda-bd1e-e76c561b6f6e"}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "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 mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip."}, {"label": "goal", "start_step": 2377, "end_step": 2484, "id": "81ad93a8-ce37-4b00-a2a0-d4f11609b844"}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden base, adjusting its position slightly."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "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 wooden base toward the green block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2504, "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 around the green block on the table to form a stable grasp."}, {"label": "goal", "start_step": 2485, "end_step": 2652, "id": "5bf643c4-9e65-48ba-afb1-883ffc0b1465"}, {"label": "subtasks", "start_step": 2505, "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: lift_transport: Right hand lifts the green block from the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "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 top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block placed on the pillar."}, {"label": "home", "start_step": 2704, "end_step": 2731, "id": "TLn7-f84JyxeITfSvbetk"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with no contact to any object. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 90, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylinder on the wooden rack, adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 165, "end_step": 209, "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 white cylinder on the wooden rack without moving."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "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 block from the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "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 block above the peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the peg on the wooden base for insertion."}, {"label": "subtasks", "start_step": 300, "end_step": 411, "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 block down onto the peg of the wooden base to secure it."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "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 closes its fingers to grasp the white hexagonal block on the tabletop."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 600, "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: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"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_release: Right hand fits the white ring onto the purple peg on the wooden base and releases the ring."}, {"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 towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "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 closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 825, "end_step": 877, "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 green base."}, {"label": "subtasks", "start_step": 878, "end_step": 959, "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 onto the purple rod of the green base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the peg of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1117, "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 closes fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1118, "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: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the rightmost purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1245, "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: release: Right hand releases the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table below the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1544, "id": "reasoning-language-00030", "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 white peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1598, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "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 cylindrical block off the table and transports it towards the wooden base with multiple pegs."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "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 cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "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 green block placed on the white cylindrical block, fingers open gradually."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "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 toward the white cylinder on the black table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the black table, fingers close around the cylinder to adjust the grip."}, {"label": "subtasks", "start_step": 1988, "end_step": 2001, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block down onto the purple rod on the wooden tray until it is supported."}, {"label": "subtasks", "start_step": 2130, "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: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden tray, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "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 black table surface, not touching the block yet."}, {"label": "subtasks", "start_step": 2182, "end_step": 2249, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the white hexagonal block on the table, fingers close to adjust and establish stable grasp on the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "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 mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block from its grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block with purple top onto the wooden base, adjusting its position slightly."}, {"label": "subtasks", "start_step": 2392, "end_step": 2429, "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 wooden base toward the green block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2504, "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 around the green block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2505, "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: lift_transport: Right hand lifts the green block from the table and transports it towards the white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00053", "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 top of the target white pillar on the wooden tray."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the green block placed on the pillar."}], "episode_index": 18}
+{"source_uid": "474b5253869584f4", "num_frames": 2544, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_ready_position: Left hand moves empty from the initial rest position to the front-left ready position. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "20dd54a7-58ed-478b-9aa9-17251d832d91"}, {"label": "valid", "start_step": 0, "end_step": 2515, "id": "zhGl7PDspoOcLIujn909W"}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: idle: Right hand remains empty at the front-right ready position without any observable movement."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal block placed in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 128, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block while the block stays on the table surface."}, {"label": "goal", "start_step": 205, "end_step": 333, "id": "2c799cfa-8717-4dd2-ab00-d415f7f096e1"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the wooden base surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport_place: Right hand moves the lifted green hexagonal block into alignment with the target purple peg and lowers the block to seat it securely on the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated green hexagonal block on the target purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple vertical peg on the wooden peg base and fits the block onto the peg."}, {"label": "goal", "start_step": 334, "end_step": 447, "id": "22a0cb09-9e5a-4ae4-b9b4-4fd6c6c8c8a7"}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish secure contact with the block."}, {"label": "goal", "start_step": 448, "end_step": 624, "id": "3c8eb68d-2b9d-46f5-a269-8ab20e9ffd7e"}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg for assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg on the wooden base without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate_release: Right hand holds a white cylindrical block, aligns and mates it onto the purple peg on the wooden pegboard, opening fingers to release the fitted block."}, {"label": "goal", "start_step": 625, "end_step": 744, "id": "3b61e20b-2f7f-435f-bd65-dec3be13c329"}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight grip adjustments to form a stable hold."}, {"label": "goal", "start_step": 745, "end_step": 897, "id": "8dedcc0a-db7a-4608-a7f1-909d279b25e5"}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod, seating it on the green block below."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without any visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 898, "end_step": 1014, "id": "e2f201f3-3f28-49d5-8a86-85313bb4d0a1"}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and adjusting hand position to establish a stable grip on the block, which remains resting on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving, with no visible adjustments to the grip or position of the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table in front of the wooden base, making minor finger adjustments to form a stable grip while the block rests on the table."}, {"label": "goal", "start_step": 1015, "end_step": 1203, "id": "9cdf56f2-f9d0-4c54-b897-ba14e814a383"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white block placed on the purple peg of the wooden stacking base, separating from the block surface."}, {"label": "goal", "start_step": 1204, "end_step": 1302, "id": "29584ae4-beb4-4dc7-bf00-c64b420d4579"}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers adjusting position to form a stable grip on the block."}, {"label": "goal", "start_step": 1303, "end_step": 1461, "id": "d8a909d9-29c9-4958-9193-4c1b59ecbca7"}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden stand to secure it in position."}, {"label": "goal", "start_step": 1462, "end_step": 1572, "id": "b11107af-7aa5-4fea-8803-815ec1c5c3ff"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 1573, "end_step": 1716, "id": "15204ca5-369a-40f8-aeb7-f0fd05ae359c"}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves down and right from above the wooden block base to approach the white hexagonal nut near the right side of the wooden base, with fingers kept open."}, {"label": "goal", "start_step": 1717, "end_step": 1803, "id": "6809008f-02f2-47ba-8b25-ccee42b60a2c"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no visible finger or wrist adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white-and-green cylindrical object resting on the table adjacent to the wooden block base, with the object remaining in contact with the table surface."}, {"label": "goal", "start_step": 1804, "end_step": 1941, "id": "a9dbe648-7d1b-4ac6-b710-dd31031c7392"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white-and-green cylindrical object off the dark table surface and transports the object upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the held small white-and-green cylindrical object with the purple vertical rod on the wooden base, lowering the object to fit onto the rod during assembly motion."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves from the position above the stacked block set downward toward the white hexagonal block resting on the table surface."}, {"label": "goal", "start_step": 1942, "end_step": 2019, "id": "50668b5e-714c-4291-834b-0b7e4c5334c0"}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and adjusting hand position to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical block on the dark table surface without moving."}, {"label": "goal", "start_step": 2020, "end_step": 2160, "id": "16da2e4e-e18a-4894-b0a0-e3c0becb42c0"}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the white cylindrical block through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white cylindrical block on the wooden stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the right side of the stacked blocks toward the small green square block on the table, staying empty as it approaches the target block."}, {"label": "goal", "start_step": 2161, "end_step": 2250, "id": "60747813-c201-402e-8fe0-3698cf7358de"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the small green square block on the table, with fingers adjusting contact positions and closing to form a grasp on the block."}, {"label": "goal", "start_step": 2251, "end_step": 2472, "id": "b033ccdb-97ee-4922-9ee6-63902045d728"}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped green cubic object vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the grasped green cubic object upward and leftward toward the white bottle with a purple cap placed on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the green cubic object with the top of the target white bottle, making small wrist and finger adjustments to fit the object securely onto the bottle."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green cubic object, separating the hand from the object now seated on the white bottle."}, {"label": "home", "start_step": 2516, "end_step": 2543, "id": "UpDbUaAxNXa678E-ZuEkE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_ready_position: Left hand moves empty from the initial rest position to the front-left ready position. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "subtasks", "start_step": 22, "end_step": 29, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: other:move_to_ready_position: Right hand moves empty from the initial rest position to the front-right ready position."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: idle: Right hand remains empty at the front-right ready position without any observable movement."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty leftward and downward toward the green hexagonal block placed in front of the wooden assembly stand."}, {"label": "subtasks", "start_step": 128, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, adjusting finger positions to close around the block while the block stays on the table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the wooden base surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport_place: Right hand moves the lifted green hexagonal block into alignment with the target purple peg and lowers the block to seat it securely on the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated green hexagonal block on the target purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 330, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple vertical peg on the wooden peg base and fits the block onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight finger adjustments to establish secure contact with the block."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal nut upward and horizontally toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg and lowers the nut to fit it onto the peg for assembly."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg on the wooden base without any visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate_release: Right hand holds a white cylindrical block, aligns and mates it onto the purple peg on the wooden pegboard, opening fingers to release the fitted block."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 779, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making slight grip adjustments to form a stable hold."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to a position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod, seating it on the green block below."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod without any visible movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward from above the wooden block assembly toward the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, closing fingers and adjusting hand position to establish a stable grip on the block, which remains resting on the table."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving, with no visible adjustments to the grip or position of the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table in front of the wooden base, making minor finger adjustments to form a stable grip while the block rests on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1101, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally toward the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal block to align it with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the white block placed on the purple peg of the wooden stacking base, separating from the block surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, fingers adjusting position to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block mounted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden stand to secure it in position."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the loose white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal block on the table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves down and right from above the wooden block base to approach the white hexagonal nut near the right side of the wooden base, with fingers kept open."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table to form a stable grip, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, with no visible finger or wrist adjustment."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white-and-green cylindrical object resting on the table adjacent to the wooden block base, with the object remaining in contact with the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift_transport: Right hand lifts the small white-and-green cylindrical object off the dark table surface and transports the object upward toward the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the held small white-and-green cylindrical object with the purple vertical rod on the wooden base, lowering the object to fit onto the rod during assembly motion."}, {"label": "subtasks", "start_step": 1935, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves from the position above the stacked block set downward toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing fingers and adjusting hand position to form a grasp on the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward to raise it completely off the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the white cylindrical block through the air toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white cylindrical block on the wooden stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: reach: Right hand moves downward and rightward from the right side of the stacked blocks toward the small green square block on the table, staying empty as it approaches the target block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: grasp: Right hand contacts the small green square block on the table, with fingers adjusting contact positions and closing to form a grasp on the block."}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: lift: Right hand lifts the grasped green cubic object vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: transport: Right hand carries the grasped green cubic object upward and leftward toward the white bottle with a purple cap placed on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2459, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: mate: Right hand aligns the green cubic object with the top of the target white bottle, making small wrist and finger adjustments to fit the object securely onto the bottle."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the front-left ready position without any observable movement. | Right hand: release: Right hand opens its fingers to release the green cubic object, separating the hand from the object now seated on the white bottle."}], "episode_index": 19}
+{"source_uid": "7fa7720944d08449", "num_frames": 2576, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly and adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 189, "id": "df15040d-d189-47df-8132-cbb244f52a5b"}, {"label": "valid", "start_step": 0, "end_step": 2548, "id": "jjZ4l79zx1eACYCtWVcfd"}, {"label": "subtasks", "start_step": 22, "end_step": 141, "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 table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "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 block on the table, adjusting fingers to stabilize the grip while the block stays on the table surface."}, {"label": "goal", "start_step": 190, "end_step": 339, "id": "03bd7243-a45b-434f-b4b4-e31a2a6ef94b"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "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 block onto the purple peg, aligning the hole of the block with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 285, "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 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: mate: Right hand mates the white hexagonal ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 340, "end_step": 447, "id": "2f8064c2-c22b-4562-91cb-3b7907a115db"}, {"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: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 448, "end_step": 582, "id": "e1baaebd-a7db-4182-9490-aedb59653d35"}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front purple peg on the wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple peg of the wooden board by aligning the hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg and releases the block."}, {"label": "goal", "start_step": 583, "end_step": 693, "id": "f82f5c31-471a-409a-a445-0c7644fffa4c"}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 694, "end_step": 879, "id": "d66d0f3e-cf1f-4320-b6b0-0ba92b12a8b3"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the table to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target vertical peg of the wooden rack to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 ring on the purple peg of the wooden base, with fingers gradually opening to separate from the ring."}, {"label": "goal", "start_step": 880, "end_step": 1008, "id": "61fc6b1a-b3ac-4d3c-8c32-3bf27647f1c8"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1057, "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": "goal", "start_step": 1009, "end_step": 1185, "id": "6b0b0ccf-1da0-4e60-b772-74c5247f763f"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "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 cylindrical part with the purple rod on the wooden base, lowering the part down the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical part."}, {"label": "goal", "start_step": 1186, "end_step": 1281, "id": "871844a6-eae5-4ef4-9dd0-7461b5d61b62"}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple post of the wooden pegboard."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "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 reaches downward toward the green hexagonal block on the table below the wooden pegboard."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "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 adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1282, "end_step": 1440, "id": "74e3df07-5e85-427f-a098-5146c91a18e1"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the building block assembly to approach the white hexagonal object on the dark table surface."}, {"label": "goal", "start_step": 1441, "end_step": 1563, "id": "80079626-0bc9-4d7b-a932-7d5c712ce414"}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "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 hollow cylindrical part on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1564, "end_step": 1731, "id": "bf675c61-150d-439e-a170-462bc53b64df"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 part off the table and transports it to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple vertical rod and presses it down to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening and moving slightly upward away from the part."}, {"label": "goal", "start_step": 1732, "end_step": 1821, "id": "fd05797d-a775-49fb-876f-17e6c8ae48a8"}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal part on the black table to the right of the wooden base, moving down-right."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "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 upper white hexagonal part on the black table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "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 hollow hexagonal cylinder on the right side of the table without moving."}, {"label": "goal", "start_step": 1822, "end_step": 1968, "id": "c6c553af-7dbc-481f-870d-a8a974af2106"}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "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 hollow hexagonal cylinder from the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00047", "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 hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple vertical rod, moving downward toward the white hexagonal part on the table with fingers open."}, {"label": "goal", "start_step": 1969, "end_step": 2043, "id": "89c18416-7df2-4be0-b652-4acdae38acf5"}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left 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, with fingers closing around the part."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00050", "text": "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 table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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 cylindrical object on the right side of the table, with fingers closing around the object."}, {"label": "goal", "start_step": 2044, "end_step": 2208, "id": "0d2c2ace-9654-4703-ac9f-b4e99414ae28"}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "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 cylindrical object off the table and transports it toward the purple rod on the wooden tray at the center of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "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 mates the white cylindrical object onto the purple rod by aligning and inserting the rod into the cylinder's hole."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "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 cylindrical object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2205, "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: press: Right hand presses the purple top of the front-right white block on the wooden base."}, {"label": "goal", "start_step": 2209, "end_step": 2319, "id": "3cbc5241-cbe9-426a-bb05-3c4c27856f4a"}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2288, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green object on the right table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2320, "end_step": 2505, "id": "abcd2efa-dce5-422a-960f-a9a39df0b683"}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green object from the table and transports it toward the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2497, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green object onto the top of the target white bottle by aligning and fitting it into place."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green object, with fingers opening to separate from the object."}, {"label": "home", "start_step": 2549, "end_step": 2575, "id": "-tmj3-UPzX1OIyaCBZm7C"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_pose: Left hand rotates slightly and adjusts its posture at the left side of the table. | Right hand: reach: Right hand moves leftward toward the green hexagonal block on the table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 22, "end_step": 141, "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 table below the left side of the wooden rack."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "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 block on the table, adjusting fingers to stabilize the grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "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 block onto the purple peg, aligning the hole of the block with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 285, "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 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: mate: Right hand mates the white hexagonal ring onto the purple peg on the wooden base."}, {"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: reach: Right hand reaches downward toward the white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the front purple peg on the wooden board."}, {"label": "subtasks", "start_step": 488, "end_step": 524, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the front purple peg of the wooden board by aligning the hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 525, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the front purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg and releases the block."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 638, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal piece from the table to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white hexagonal piece onto the target vertical peg of the wooden rack to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "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 ring on the purple peg of the wooden base, with fingers gradually opening to separate from the ring."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 1057, "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": 1058, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1169, "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 cylindrical part with the purple rod on the wooden base, lowering the part down the rod until it rests on the green base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the assembled white cylindrical part."}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white ring on the rightmost purple post of the wooden pegboard."}, {"label": "subtasks", "start_step": 1208, "end_step": 1229, "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 reaches downward toward the green hexagonal block on the table below the wooden pegboard."}, {"label": "subtasks", "start_step": 1230, "end_step": 1297, "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 adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the building block assembly to approach the white hexagonal object on the dark table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the table without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "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 hollow cylindrical part on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "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 part off the table and transports it to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical part with the purple vertical rod and presses it down to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1718, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part, with fingers opening and moving slightly upward away from the part."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the upper white hexagonal part on the black table to the right of the wooden base, moving down-right."}, {"label": "subtasks", "start_step": 1778, "end_step": 1814, "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 upper white hexagonal part on the black table, with fingers closing around the part to adjust the grip."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "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 hollow hexagonal cylinder on the right side of the table without moving."}, {"label": "subtasks", "start_step": 1852, "end_step": 1904, "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 hollow hexagonal cylinder from the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00047", "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 hollow hexagonal cylinder onto the purple vertical rod on the wooden base and releases the cylinder."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_reach: Right hand releases the white ring on the purple vertical rod, moving downward toward the white hexagonal part on the table with fingers open."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left 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, with fingers closing around the part."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00050", "text": "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 table without moving."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "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 cylindrical object on the right side of the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "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 cylindrical object off the table and transports it toward the purple rod on the wooden tray at the center of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "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 mates the white cylindrical object onto the purple rod by aligning and inserting the rod into the cylinder's hole."}, {"label": "subtasks", "start_step": 2145, "end_step": 2197, "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 cylindrical object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand opens fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2205, "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: press: Right hand presses the purple top of the front-right white block on the wooden base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2288, "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: hold: Right hand holds the green square block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green object on the right table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green object from the table and transports it toward the white bottle group on the wooden tray."}, {"label": "subtasks", "start_step": 2422, "end_step": 2497, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green object onto the top of the target white bottle by aligning and fitting it into place."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green object, with fingers opening to separate from the object."}], "episode_index": 20}
+{"source_uid": "aa0ba61e9a4e3b3f", "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": 134, "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 placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "342b1af6-3783-412c-aa6d-af704debf10e"}, {"label": "valid", "start_step": 0, "end_step": 2538, "id": "jIkhdttyX8MGo497m_h7r"}, {"label": "subtasks", "start_step": 135, "end_step": 239, "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 closes fingers to grasp the leftmost green block on the table, with slight hand posture adjustment."}, {"label": "goal", "start_step": 208, "end_step": 399, "id": "617c3636-a7f1-4bed-923e-8b9a78df149d"}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block upward and forward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "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 aligns the green square block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00006", "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 on the wooden base, with fingers opening."}, {"label": "goal", "start_step": 400, "end_step": 516, "id": "0486a028-b80c-4a09-b634-fb4e4eb202f0"}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00008", "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 tabletop, with fingers closing around the block."}, {"label": "goal", "start_step": 517, "end_step": 690, "id": "060f0cc1-47e5-4af5-aa7a-fac596d7a30d"}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "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 top of the target purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00011", "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 position."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 pillar on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 691, "end_step": 789, "id": "b30a3249-f2ab-49ff-ad01-f6d0b49b517f"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00013", "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 ring on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 790, "end_step": 1053, "id": "31e68b19-e131-4c83-a80d-e334235d4794"}, {"label": "subtasks", "start_step": 818, "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: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "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 top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 1049, "id": "reasoning-language-00017", "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": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1054, "end_step": 1170, "id": "75574bd4-67dd-4898-9186-f901d84ce825"}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "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 down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "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 touches the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "goal", "start_step": 1171, "end_step": 1347, "id": "b99bd3cf-950a-4091-b0f3-a4f00cca9be1"}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder up from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylinder to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white cylinder onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00024", "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 of the wooden base."}, {"label": "goal", "start_step": 1348, "end_step": 1425, "id": "c09273e6-7ed5-4c3f-bb23-4012d11485b4"}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1418, "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 grasps the green square block on the table."}, {"label": "goal", "start_step": 1426, "end_step": 1566, "id": "4a357e93-8bd6-4408-a4c2-1ce600f768d6"}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "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 green block with the purple post and inserts it onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00029", "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 placed on the purple rod on the wooden base."}, {"label": "goal", "start_step": 1567, "end_step": 1668, "id": "514c4955-a463-466b-827f-5b23a25c6583"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "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 downward towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1620, "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: grasp: Right hand contacts the white block on the black table surface, with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1669, "end_step": 1800, "id": "d125ff36-83d2-42d1-934c-038c39c464dd"}, {"label": "subtasks", "start_step": 1695, "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: lift: Right hand lifts the grasped white cylindrical ring off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylindrical ring towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "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 cylindrical ring onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00035", "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 ring down to fit it onto the green peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical ring from its grasp."}, {"label": "goal", "start_step": 1801, "end_step": 1893, "id": "09f9b2c3-4846-4838-a042-c76a10ff7b91"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylinder on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00038", "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 hollow cylinder on the black table surface."}, {"label": "goal", "start_step": 1894, "end_step": 2046, "id": "d1e2f7e7-faa7-4e34-95d0-7d766c199c5c"}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00039", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 2047, "end_step": 2124, "id": "8bfbd9e6-f2cd-49b0-b01d-e955661e8f0e"}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp."}, {"label": "goal", "start_step": 2125, "end_step": 2295, "id": "823dbc80-418b-4f1c-aa59-8e3477b38ef2"}, {"label": "subtasks", "start_step": 2138, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the black tabletop."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylindrical object towards the purple stick on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00045", "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 object with the purple stick and fits it onto the stick."}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00046", "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, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 2288, "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: retreat: Right hand moves away from the wooden base towards the right side of the tabletop."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 toward the green block on the right side of the black table."}, {"label": "goal", "start_step": 2296, "end_step": 2355, "id": "d7f015ea-3490-4ed4-a3e3-65dc383a3824"}, {"label": "subtasks", "start_step": 2325, "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 touches the green block and adjusts fingers to form stable grip."}, {"label": "goal", "start_step": 2356, "end_step": 2496, "id": "52b29200-c46c-44fe-a79b-99b1d06f3e25"}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "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 moves it toward the white block with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 2415, "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: mate_release: Right hand fits the green block onto the top of the target white block, then releases fingers to separate from the block."}, {"label": "home", "start_step": 2539, "end_step": 2566, "id": "jvPSpC3l1apndw0fyN_YX"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 134, "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 placed on the black table."}, {"label": "subtasks", "start_step": 135, "end_step": 239, "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 closes fingers to grasp the leftmost green block on the table, with slight hand posture adjustment."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green square block upward until it completely leaves the black table surface."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green square block upward and forward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 389, "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 aligns the green square block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00006", "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 on the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00008", "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 tabletop, with fingers closing around the block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "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 top of the target purple rod."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00011", "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 position."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00012", "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 pillar on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00013", "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 ring on the black table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hexagonal ring on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 818, "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: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00016", "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 top of the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 1049, "id": "reasoning-language-00017", "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": 1050, "end_step": 1079, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "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 down toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1214, "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 touches the white hexagonal block on the table, fingers adjust to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder up from the black table surface."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylinder to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand inserts the white cylinder onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00024", "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 of the wooden base."}, {"label": "subtasks", "start_step": 1365, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table."}, {"label": "subtasks", "start_step": 1418, "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 grasps the green square block on the table."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "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 green block with the purple post and inserts it onto the post to complete the assembly."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00029", "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 placed on the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "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 downward towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 1620, "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: grasp: Right hand contacts the white block on the black table surface, with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1695, "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: lift: Right hand lifts the grasped white cylindrical ring off the black table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand moves the white cylindrical ring towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "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 cylindrical ring onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00035", "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 ring down to fit it onto the green peg."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical ring from its grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylinder on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1919, "id": "reasoning-language-00038", "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 hollow cylinder on the black table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1957, "id": "reasoning-language-00039", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 2138, "end_step": 2151, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical object upward, making it leave the black tabletop."}, {"label": "subtasks", "start_step": 2152, "end_step": 2197, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylindrical object towards the purple stick on the wooden base."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00045", "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 object with the purple stick and fits it onto the stick."}, {"label": "subtasks", "start_step": 2272, "end_step": 2287, "id": "reasoning-language-00046", "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, fingers open to separate from the object."}, {"label": "subtasks", "start_step": 2288, "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: retreat: Right hand moves away from the wooden base towards the right side of the tabletop."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "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 toward the green block on the right side of the black table."}, {"label": "subtasks", "start_step": 2325, "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 touches the green block and adjusts fingers to form stable grip."}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "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 moves it toward the white block with purple tip on the wooden base."}, {"label": "subtasks", "start_step": 2415, "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: mate_release: Right hand fits the green block onto the top of the target white block, then releases fingers to separate from the block."}], "episode_index": 21}
+{"source_uid": "440f8cac0e9cb654", "num_frames": 3062, "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 from the initial raised position to the left front home position, with fingers slightly bending and wrist rotating slightly. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "goal", "start_step": 0, "end_step": 222, "id": "bad1c8fa-6bbc-4443-bbcc-9cc9c477a4bd"}, {"label": "valid", "start_step": 0, "end_step": 3034, "id": "_oE4VpMGpGhwDAOzd7KGm"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface without moving, with no observable displacement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions around the adjacent green hexagonal block resting on the black table next to the wooden peg board, closing fingers to form a stable grip on the block."}, {"label": "goal", "start_step": 223, "end_step": 459, "id": "c32f531f-d788-413b-a60f-e6ab155c3743"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely off the black table surface into the air."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block toward the left purple peg on the wooden board, aligns the block's central hole with the peg, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal block seated on the left purple peg of the wooden peg board, with no observable movement of the hand, fingers, or held block."}, {"label": "subtasks", "start_step": 450, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the wooden peg assembly toward the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 460, "end_step": 561, "id": "9c66d351-efe4-48d9-a1ff-d4eedc2d72fc"}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 562, "end_step": 711, "id": "67975cc3-c748-4e7a-8a5a-bdfd5c4a0c8c"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it toward the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple peg and moves it downward to nest the cylinder onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple peg without observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal nut on the table surface, with fingers extended and no contact with the target nut."}, {"label": "goal", "start_step": 712, "end_step": 807, "id": "f7cd2c24-541d-4738-8f3e-82127ac9a5a3"}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "goal", "start_step": 808, "end_step": 1050, "id": "626bb746-8cd8-4231-a357-307300a8b2df"}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transports the block upward and toward the wooden base to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, adjusts the block's position and orientation, lowers the block to fit securely onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block on the purple peg, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: retreat: Right hand, now empty, moves horizontally away from the assembled block on the wooden base to retreat from the operation area."}, {"label": "goal", "start_step": 1051, "end_step": 1152, "id": "3330775f-0a1e-4ff1-b148-d442e95c8f68"}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut adjacent to the wooden stacking block base, with fingers open, remaining out of contact with the nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to establish a grasp, with the nut staying on the table surface."}, {"label": "goal", "start_step": 1153, "end_step": 1281, "id": "ae992669-53cc-441e-bddd-507c72742838"}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to fit it onto the purple peg, until the block rests stably on the peg assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the block assembly area toward the green hexagonal nut on the table surface."}, {"label": "goal", "start_step": 1282, "end_step": 1374, "id": "dcd90cab-b0b0-4d75-8da4-b021fa22fe9f"}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table surface, making subtle finger adjustments to establish contact with the object."}, {"label": "goal", "start_step": 1375, "end_step": 1641, "id": "42c9833d-cdcc-469c-b4b0-cbc7dd0b8e8e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and transports it upward and toward the wooden assembly board until it is positioned directly over the target purple vertical peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1634, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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 vertical peg, making small positional and rotational adjustments to slide the block down the peg until it rests securely on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to begin releasing the seated green hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the position above the wooden assembly stand toward the white hexagonal nut on the front table surface, with fingers open, approaching the target without establishing a stable grip."}, {"label": "goal", "start_step": 1642, "end_step": 1815, "id": "2c6117b7-c6ff-4426-bea0-8d819bc5f29d"}, {"label": "subtasks", "start_step": 1688, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger and wrist positions to form a stable grip, causing the nut to tip onto its side on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the stably gripped white hexagonal nut and moves upward, beginning to lift the nut from the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable grasp of the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1816, "end_step": 1989, "id": "212eb5f6-8061-4bf4-9fe9-c1ccd92fdb12"}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod, forming the nested assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block that is fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden assembly stand, lifting fingers slightly away from the block."}, {"label": "goal", "start_step": 1990, "end_step": 2088, "id": "89877141-ffe2-47a1-b2c3-310762eb84e1"}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the small white hexagonal block positioned next to the wooden assembly stand, with no contact with any object during movement."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface, making slight finger adjustments to secure the grip on the block."}, {"label": "goal", "start_step": 2089, "end_step": 2319, "id": "e9c549de-de7b-4cde-a5fd-7c8df3aef449"}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the white hexagonal cylinder through the air toward the empty mounting position on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod on the wooden block base, moving the object downward to fit onto the rod during alignment."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod."}, {"label": "goal", "start_step": 2320, "end_step": 2400, "id": "62765bef-3eec-426f-8b59-e6f8de318607"}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves in a downward-right direction with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white cylindrical block stably, and lifts it upward until the block completely leaves the black table support surface."}, {"label": "goal", "start_step": 2401, "end_step": 2634, "id": "e95c1f3b-8578-4af0-8fa1-24450fd8cc5a"}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the grasped white cylindrical block to move upward and leftward, transporting the block to the position directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2475, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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, then moves the block downward to fit it onto the rod until the two objects form a stable assembled state."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers gradually to release the assembled white cylindrical block on the purple rod, separating the hand from the block completely."}, {"label": "goal", "start_step": 2635, "end_step": 2745, "id": "6fcce438-0936-42da-9183-148eec8d0a5f"}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the green hollow cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions to close around the green hollow cube on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2745, "end_step": 2781, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the firmly grasped green block upward from the dark table surface until the block is fully separated from the table."}, {"label": "goal", "start_step": 2746, "end_step": 2982, "id": "d3a84500-28f1-491c-9807-467301475200"}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the lifted green block upward and leftward through the air to the position directly above the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2835, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white cylindrical peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green block fitted onto the white cylindrical peg without observable movement."}, {"label": "home", "start_step": 3035, "end_step": 3061, "id": "WT9vvSmxopxJS6tFxTmwm"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the initial raised position to the left front home position, with fingers slightly bending and wrist rotating slightly. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves from the initial raised position on the right toward the green hexagonal nut located at the front-left of the wooden peg assembly, with fingers kept open."}, {"label": "subtasks", "start_step": 135, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the black table surface, making slight finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal nut steadily on the table surface without moving, with no observable displacement, rotation or hand shape change."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions around the adjacent green hexagonal block resting on the black table next to the wooden peg board, closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand moves vertically upward, lifting the grasped green hexagonal block completely off the black table surface into the air."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport_mate: Right hand moves the lifted green hexagonal block toward the left purple peg on the wooden board, aligns the block's central hole with the peg, and lowers the block to seat it onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green hexagonal block seated on the left purple peg of the wooden peg board, with no observable movement of the hand, fingers, or held block."}, {"label": "subtasks", "start_step": 450, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward empty from the area near the wooden peg assembly toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it toward the purple peg mounted on the wooden block base."}, {"label": "subtasks", "start_step": 615, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple peg and moves it downward to nest the cylinder onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple peg without observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the pegboard area toward the front-left white hexagonal nut on the table surface, with fingers extended and no contact with the target nut."}, {"label": "subtasks", "start_step": 780, "end_step": 847, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table surface to establish a grip on the object."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface, transports the block upward and toward the wooden base to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 892, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base, adjusts the block's position and orientation, lowers the block to fit securely onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block on the purple peg, breaking contact between the hand and the block."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: retreat: Right hand, now empty, moves horizontally away from the assembled block on the wooden base to retreat from the operation area."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the white hexagonal nut adjacent to the wooden stacking block base, with fingers open, remaining out of contact with the nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1177, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, adjusts finger positions and closes fingers around the nut to establish a grasp, with the nut staying on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: place: Right hand lowers the white hexagonal block vertically downward to fit it onto the purple peg, until the block rests stably on the peg assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward from the block assembly area toward the green hexagonal nut on the table surface."}, {"label": "subtasks", "start_step": 1328, "end_step": 1401, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the green hexagonal nut on the table surface, making subtle finger adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 1402, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift_transport: Right hand lifts the green hexagonal block fully off the black table surface and transports it upward and toward the wooden assembly board until it is positioned directly over the target purple vertical peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1634, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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 vertical peg, making small positional and rotational adjustments to slide the block down the peg until it rests securely on the assembly base."}, {"label": "subtasks", "start_step": 1635, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers to begin releasing the seated green hexagonal block from its grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1687, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward from the position above the wooden assembly stand toward the white hexagonal nut on the front table surface, with fingers open, approaching the target without establishing a stable grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to finger and wrist positions to form a stable grip, causing the nut to tip onto its side on the table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1814, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the stably gripped white hexagonal nut and moves upward, beginning to lift the nut from the table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts its fingers to tighten and form a stable grasp of the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod and lowers it to fit onto the rod, forming the nested assembly."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the white hexagonal block that is fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the wooden assembly stand, lifting fingers slightly away from the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves downward toward the small white hexagonal block positioned next to the wooden assembly stand, with no contact with any object during movement."}, {"label": "subtasks", "start_step": 2055, "end_step": 2107, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the dark table surface, making slight finger adjustments to secure the grip on the block."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder vertically upward until the object is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the white hexagonal cylinder through the air toward the empty mounting position on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2309, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple vertical rod on the wooden block base, moving the object downward to fit onto the rod during alignment."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves in a downward-right direction with open fingers, approaching the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand holds the white cylindrical block stably, and lifts it upward until the block completely leaves the black table support surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2474, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand carries the grasped white cylindrical block to move upward and leftward, transporting the block to the position directly above the purple rod on the wooden block set."}, {"label": "subtasks", "start_step": 2475, "end_step": 2601, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, 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, then moves the block downward to fit it onto the rod until the two objects form a stable assembled state."}, {"label": "subtasks", "start_step": 2602, "end_step": 2647, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: release: Right hand opens its fingers gradually to release the assembled white cylindrical block on the purple rod, separating the hand from the block completely."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: reach: Right hand moves empty downward toward the green hollow cube placed on the black table surface."}, {"label": "subtasks", "start_step": 2692, "end_step": 2744, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: grasp: Right hand adjusts finger positions to close around the green hollow cube on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 2745, "end_step": 2781, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: lift: Right hand lifts the firmly grasped green block upward from the dark table surface until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: transport: Right hand transports the lifted green block upward and leftward through the air to the position directly above the target white cylindrical peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2835, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the white cylindrical peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2962, "end_step": 2984, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without moving, with no contact with any objects on the table. | Right hand: hold: Right hand holds the green block fitted onto the white cylindrical peg without observable movement."}], "episode_index": 22}
+{"source_uid": "0f56ac1e01564123", "num_frames": 2521, "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 returns to the left home position, rotating its wrist approximately 90 degrees and moving slightly forward. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "da127ca6-ad1c-4ad2-818d-b6ebad5dde93"}, {"label": "valid", "start_step": 0, "end_step": 2493, "id": "XRn65on5oPiUAqmijPAzm"}, {"label": "subtasks", "start_step": 30, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 187, "end_step": 333, "id": "719188fd-4ec2-4da3-baf8-cf23e05f1bf7"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the left purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block onto the left purple peg by aligning the block hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the peg board, with fingers opening to separate from the part."}, {"label": "goal", "start_step": 334, "end_step": 432, "id": "1c293e74-9f02-4cea-b722-5de76e0e03a3"}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal part on the table, without touching the part."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "goal", "start_step": 433, "end_step": 681, "id": "c2a2486f-fc3d-4001-a2de-eac990c6b7dd"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "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 nut off the work surface and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, then lowers the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening and separating from the nut."}, {"label": "goal", "start_step": 682, "end_step": 801, "id": "bb468f00-351c-48aa-82fc-d145b88f0a75"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00017", "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 on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00018", "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, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 802, "end_step": 987, "id": "2b1e1621-84d0-4750-b608-7281f151d958"}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "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 cylindrical block on the table in front of the stacking base."}, {"label": "goal", "start_step": 988, "end_step": 1110, "id": "c78ccc34-a3ab-4a05-8ea7-d5e7a3e3a9e3"}, {"label": "subtasks", "start_step": 1020, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1111, "end_step": 1269, "id": "74b75191-00e7-4a17-9ce0-8a58a74575d0"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00024", "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 to the top of a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00025", "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 rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without 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": 1270, "end_step": 1365, "id": "1337bf61-09f5-4625-a422-010de8a16051"}, {"label": "subtasks", "start_step": 1282, "end_step": 1334, "id": "reasoning-language-00028", "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 desktop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00029", "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 desktop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00030", "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 desktop without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "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 form a stable grip."}, {"label": "goal", "start_step": 1366, "end_step": 1509, "id": "847ef286-deda-4ae0-a6d3-bef6a1b9a89c"}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00032", "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 white peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base, sliding the block upward along the rod."}, {"label": "goal", "start_step": 1510, "end_step": 1611, "id": "acc2bcd9-3ffd-4f03-afe9-665595e5e210"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 hollow cylinder on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1612, "end_step": 1761, "id": "726ce163-e14d-42ef-bce2-e0fd7f5fbb47"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "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 from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg on the wooden base by aligning the cylinder hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold_release: Right hand holds the white hollow cylinder on the purple peg steadily before releasing it by opening its fingers."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 1762, "end_step": 1860, "id": "6d30d223-9aa4-47b8-87a7-9261f208baf9"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "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": 1860, "end_step": 1889, "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 white cylindrical ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1861, "end_step": 1998, "id": "c6648776-4dc2-4734-a7e9-427a1461887b"}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "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 cylindrical ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "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 white cylindrical ring with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00051", "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 to the right of the wooden base."}, {"label": "goal", "start_step": 1999, "end_step": 2064, "id": "04c12bba-d9b1-40db-922f-9ae79b2e3a67"}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00052", "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 adjusting to form a stable grip."}, {"label": "goal", "start_step": 2065, "end_step": 2205, "id": "d8393da4-4255-4f11-8214-5292f6fc0369"}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, fits it onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00055", "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 block on the table, without contacting the block."}, {"label": "goal", "start_step": 2206, "end_step": 2283, "id": "911337f0-5b9b-4b30-ac5a-31fe2e908a78"}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand contacts the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2284, "end_step": 2442, "id": "e7b2f511-b2ea-4cbe-aba0-43940a6d4829"}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "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 from the table surface and transports it to the position above the purple-tipped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green ring with the purple-tipped white cylinder by lowering and fitting the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring on the purple-tipped white cylinder without moving."}, {"label": "home", "start_step": 2494, "end_step": 2520, "id": "Y56aFNe6ptCK1acyVNTbV"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand returns to the left home position, rotating its wrist approximately 90 degrees and moving slightly forward. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "subtasks", "start_step": 30, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the green hexagonal block on the black table in front of the peg assembly, moving leftward and downward gradually."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the left purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block onto the left purple peg by aligning the block hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the peg board, with fingers opening to separate from the part."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal part on the table, without touching the part."}, {"label": "subtasks", "start_step": 375, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers closing and adjusting around the part."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00011", "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 nut off the work surface and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 599, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the top of the leftmost purple peg, then lowers the nut down the peg until it rests on the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 697, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal nut, with fingers opening and separating from the nut."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal part on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black table surface with fingers closing and adjusting to form a grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00017", "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 on the black table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00018", "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, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 915, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg without moving."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "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 cylindrical block on the table in front of the stacking base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the stacking base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00024", "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 to the top of a purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1251, "id": "reasoning-language-00025", "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 rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1252, "end_step": 1259, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without 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": 1282, "end_step": 1334, "id": "reasoning-language-00028", "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 desktop."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00029", "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 desktop."}, {"label": "subtasks", "start_step": 1358, "end_step": 1364, "id": "reasoning-language-00030", "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 desktop without moving."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00031", "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 form a stable grip."}, {"label": "subtasks", "start_step": 1388, "end_step": 1417, "id": "reasoning-language-00032", "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 white peg on the wooden board."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1448, "end_step": 1499, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the white peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden base, sliding the block upward along the rod."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table below the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1604, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1634, "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 hollow cylinder on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00040", "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 from the black table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple peg on the wooden base by aligning the cylinder hole with the peg and lowering it down."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold_release: Right hand holds the white hollow cylinder on the purple peg steadily before releasing it by opening its fingers."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00046", "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": 1860, "end_step": 1889, "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 white cylindrical ring on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "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 cylindrical ring off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1987, "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 white cylindrical ring with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical ring on the purple rod, with fingers opening to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00051", "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 to the right of the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00052", "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 adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2204, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple peg, fits it onto the peg, then releases the block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00055", "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 block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 2242, "end_step": 2301, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand contacts the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00057", "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 from the table surface and transports it to the position above the purple-tipped white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green ring with the purple-tipped white cylinder by lowering and fitting the ring onto the cylinder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2444, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring on the purple-tipped white cylinder without moving."}], "episode_index": 23}
+{"source_uid": "5a83b559fb452632", "num_frames": 2711, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal nut placed in front-left of the wooden peg assembly, with fingers slightly adjusting posture during the movement."}, {"label": "goal", "start_step": 0, "end_step": 186, "id": "e6eb8b55-ea24-4943-b335-cd079c469a58"}, {"label": "valid", "start_step": 0, "end_step": 2682, "id": "LznAg2h_rRggU-9raDXYq"}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table surface, closes fingers around the nut and makes slight adjustments to wrist and finger positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "goal", "start_step": 187, "end_step": 381, "id": "2a54d7c0-f765-42bd-814c-687120d2b47a"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the firmly gripped green hexagonal nut upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted green hexagonal nut through the air toward the target purple vertical peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the target purple peg, lowering the nut to fit it securely onto the vertical peg."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the fitted green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand presses the green hexagonal block onto the purple peg of the wooden assembly board with downward finger force."}, {"label": "goal", "start_step": 382, "end_step": 477, "id": "f437f663-9067-4594-a028-f95023a41d8b"}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a grip."}, {"label": "goal", "start_step": 478, "end_step": 684, "id": "aabf3522-4bef-4f0b-a6e7-59c3ce6823b7"}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and toward the purple peg on the wooden assembly block, positioning the nut above the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut onto the peg, and makes slight positional adjustments to fit the nut securely on the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple peg, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place: Right hand lowers the held white hexagonal block onto the purple peg of the wooden base until the block is stably supported by the base."}, {"label": "goal", "start_step": 685, "end_step": 816, "id": "add2ae1f-2564-4a01-913a-57a8e2d28702"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers gradually to release the supported white hexagonal block on the purple peg, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the wooden base area to approach the white hexagonal block resting on the front table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip on the block."}, {"label": "goal", "start_step": 817, "end_step": 984, "id": "ac142105-58e0-4525-9e3f-f56121d4f5d9"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut fully off the table surface, moving it upward and toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place_release: Right hand holds a white cylindrical block, moves it downward to seat it onto a purple peg on the wooden base assembly, opens fingers to release the fully supported cylinder."}, {"label": "goal", "start_step": 985, "end_step": 1110, "id": "0aa43523-f754-473e-a06e-9f0504ee1984"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the table directly in front of the wooden base, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, makes small adjustments to finger positions to form a stable grip on the nut, which stays resting on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table with a stable grip, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylinder resting on the table near the block base."}, {"label": "goal", "start_step": 1111, "end_step": 1275, "id": "2bb3b485-3d62-4248-bcb4-026b56930610"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface and moves it upward to the position above the purple post on the block base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white cylinder with the purple post and fits it down onto the post during assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and forward from the area near the wooden stacking base toward the green hexagonal block on the table, with fingers open and no contact with the target block."}, {"label": "goal", "start_step": 1276, "end_step": 1356, "id": "881b4213-a48b-4875-aa79-82d053dffa98"}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "goal", "start_step": 1357, "end_step": 1506, "id": "a8d2b9c8-f2cf-4a51-92c3-a24447db9741"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod and moves the block downward to fit securely onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the front white hexagonal block on the black table surface, with fingers held in a slightly open posture."}, {"label": "goal", "start_step": 1507, "end_step": 1605, "id": "b52199bf-a5e9-4ad4-8c03-77b3a7fcd066"}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closing fingers and adjusting contact positions to form a grip on the block which remains resting on the table surface."}, {"label": "goal", "start_step": 1606, "end_step": 1911, "id": "c8cc64eb-598e-41e5-a9a7-b805b992fa6a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block through the air toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden base, making small positional and rotational adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand applies downward pressure on the top surface of the white hexagonal block to seat it firmly onto the underlying green block on the rod."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand rests on the seated white hexagonal block without any observable movement, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden assembly base, fully separating from the block by the end of the segment."}, {"label": "goal", "start_step": 1912, "end_step": 2016, "id": "490267c1-b974-4943-82c8-1c8485adc794"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making slight adjustments to finger and wrist positions to form contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip on the stationary nut."}, {"label": "goal", "start_step": 2017, "end_step": 2163, "id": "6df671ba-eaae-4959-a29f-7a4d2f8c4bc7"}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod, opens fingers to separate from the seated nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 2164, "end_step": 2259, "id": "d56cd1e4-ee86-44dd-881c-f0c7dfde967d"}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to establish a grasp, with the nut remaining on the table surface."}, {"label": "goal", "start_step": 2260, "end_step": 2400, "id": "0c94b3c0-b7ac-4379-82ee-4c2109397492"}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface, transporting the object upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base, lowering the object to fit it onto the peg to establish the assembled position."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: idle: Right hand stays empty near the upper-right wooden block rack without any observable movement."}, {"label": "goal", "start_step": 2401, "end_step": 2487, "id": "092c2e77-1863-4e94-8861-ecb4775c3c35"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and right toward the green square block on the front-right table surface, with fingers kept extended until reaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand flexes its fingers to enclose the green square block on the table, making small adjustments to finger positions to form a grip on the block."}, {"label": "goal", "start_step": 2488, "end_step": 2628, "id": "8a238377-dce9-4267-ae3a-18de4397f27c"}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green ring completely off the table surface, moving it upward and leftward to the position above the white cylinder with a purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the green ring with the target white cylinder, lowers the ring to nest it onto the cylinder, opening fingers to release the ring."}, {"label": "home", "start_step": 2683, "end_step": 2710, "id": "j4qcgbR-q8SgZwHm0N6Hr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves from its initial position on the right side of the table toward the green hexagonal nut placed in front-left of the wooden peg assembly, with fingers slightly adjusting posture during the movement."}, {"label": "subtasks", "start_step": 112, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the green hexagonal nut on the table surface, closes fingers around the nut and makes slight adjustments to wrist and finger positions to form a stable grip, with the nut remaining supported by the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the firmly gripped green hexagonal nut upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted green hexagonal nut through the air toward the target purple vertical peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the target purple peg, lowering the nut to fit it securely onto the vertical peg."}, {"label": "subtasks", "start_step": 315, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the fitted green hexagonal nut on the purple assembly peg without any visible movement of the hand, fingers, or nut."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand presses the green hexagonal block onto the purple peg of the wooden assembly board with downward finger force."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward empty toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | 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": 502, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward and toward the purple peg on the wooden assembly block, positioning the nut above the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowers the nut onto the peg, and makes slight positional adjustments to fit the nut securely on the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand gradually opens its fingers to release the white hexagonal nut fitted on the purple peg, breaking physical contact with the nut."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place: Right hand lowers the held white hexagonal block onto the purple peg of the wooden base until the block is stably supported by the base."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers gradually to release the supported white hexagonal block on the purple peg, separating fingers from the block surface."}, {"label": "subtasks", "start_step": 712, "end_step": 757, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and forward from the wooden base area to approach the white hexagonal block resting on the front table surface."}, {"label": "subtasks", "start_step": 758, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip on the block."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the gripped white hexagonal nut fully off the table surface, moving it upward and toward the wooden peg assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 974, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg on the wooden base, making small positional adjustments to fit the nut onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: place_release: Right hand holds a white cylindrical block, moves it downward to seat it onto a purple peg on the wooden base assembly, opens fingers to release the fully supported cylinder."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal nut resting on the table directly in front of the wooden base, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1042, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, makes small adjustments to finger positions to form a stable grip on the nut, which stays resting on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table with a stable grip, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white cylinder resting on the table near the block base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped white cylinder off the table surface and moves it upward to the position above the purple post on the block base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the grasped white cylinder with the purple post and fits it down onto the post during assembly."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and forward from the area near the wooden stacking base toward the green hexagonal block on the table, with fingers open and no contact with the target block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1387, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand contacts the green hexagonal block on the table, adjusting finger positions to close around the block to establish a grasp."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green block off the table surface and moves it upward to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple rod and moves the block downward to fit securely onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the front white hexagonal block on the black table surface, with fingers held in a slightly open posture."}, {"label": "subtasks", "start_step": 1545, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, closing fingers and adjusting contact positions to form a grip on the block which remains resting on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand carries the grasped white hexagonal block through the air toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1829, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod on the wooden base, making small positional and rotational adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: press: Right hand applies downward pressure on the top surface of the white hexagonal block to seat it firmly onto the underlying green block on the rod."}, {"label": "subtasks", "start_step": 1882, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand rests on the seated white hexagonal block without any observable movement, keeping the block stable on the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the wooden assembly base, fully separating from the block by the end of the segment."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making slight adjustments to finger and wrist positions to form contact with the nut."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: hold: Right hand holds the white hexagonal nut on the table surface without moving, maintaining a stable grip on the stationary nut."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut horizontally toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the hole of the white hexagonal nut with the purple rod, lowers the nut to fit it onto the rod, opens fingers to separate from the seated nut."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut resting on the black table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing and adjusting fingers around the nut to establish a grasp, with the nut remaining on the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2347, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table surface, transporting the object upward and leftward to the position above the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base, lowering the object to fit it onto the peg to establish the assembled position."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: idle: Right hand stays empty near the upper-right wooden block rack without any observable movement."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: reach: Right hand moves down and right toward the green square block on the front-right table surface, with fingers kept extended until reaching the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: grasp: Right hand flexes its fingers to enclose the green square block on the table, making small adjustments to finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 2512, "end_step": 2571, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: lift_transport: Right hand lifts the grasped green ring completely off the table surface, moving it upward and leftward to the position above the white cylinder with a purple cap on the wooden base."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without observable movement or contact with any objects. | Right hand: mate_release: Right hand aligns the green ring with the target white cylinder, lowers the ring to nest it onto the cylinder, opening fingers to release the ring."}], "episode_index": 24}
+{"source_uid": "4d7e27cb9bc965ea", "num_frames": 3115, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger and wrist posture at the left side of the workspace, with no obvious wrist displacement and no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts finger and wrist posture at the right initial position of the workspace, with no obvious wrist displacement and no contact with any objects."}, {"label": "goal", "start_step": 0, "end_step": 198, "id": "a36da4d6-491e-45e1-94c4-d5c457158f31"}, {"label": "valid", "start_step": 0, "end_step": 3085, "id": "igRnUOb6FEGgiUdJM6hox"}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden peg base, remaining empty and not yet making contact with the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table surface, closes fingers and adjusts contact points to form a grasp, with the block remaining supported by the table throughout this segment."}, {"label": "goal", "start_step": 199, "end_step": 342, "id": "0174c0ef-7290-4a85-a9c4-465d56d8419e"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface, then moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg, then lowers it to fit onto the peg until the nut rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 450, "id": "5c8fac72-958b-41cf-974c-a9bf4764d668"}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the seated green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release_reach: Right hand releases the green block and moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "goal", "start_step": 451, "end_step": 597, "id": "9fc9dfe1-5d31-485f-abf8-db5e2cf765a0"}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand adjusts the white block on the purple peg to align and seat it into the wooden pegboard assembly."}, {"label": "goal", "start_step": 598, "end_step": 696, "id": "0645e8c3-2a80-4081-a744-0028a88199ca"}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grasp on the block."}, {"label": "goal", "start_step": 697, "end_step": 918, "id": "d89db5db-43d5-4d59-89d1-b74773765666"}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table surface and transports it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downwards from the upper assembly area toward the white hexagonal nut adjacent to the wooden assembly base on the table, without contacting the nut."}, {"label": "goal", "start_step": 919, "end_step": 1044, "id": "b3903d32-a7d2-45d6-a3a0-f2b608f04baf"}, {"label": "subtasks", "start_step": 952, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight continuous adjustments to finger and wrist positions to form a stable grip."}, {"label": "goal", "start_step": 1045, "end_step": 1188, "id": "f7a2a6dd-3910-4edd-8b90-bc1efa6aba9c"}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | 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": 1088, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the dark table surface with fingers open."}, {"label": "goal", "start_step": 1189, "end_step": 1269, "id": "806022a3-277e-46a5-8e19-f2dca542f054"}, {"label": "subtasks", "start_step": 1222, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "goal", "start_step": 1270, "end_step": 1443, "id": "fad36d85-bd70-48cd-be97-fd16152f89ea"}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to position directly above the purple rod on the nearby wooden stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: place: Right hand lowers the green hexagonal block, aligns its central hole with the purple rod, slides the block down the rod, and sets it onto the existing green block on the wooden stand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block on the stacked block assembly downward to seat it firmly onto the white support post."}, {"label": "goal", "start_step": 1444, "end_step": 1530, "id": "756da95b-1895-4c75-be13-2926962dc563"}, {"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 workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface near the loose green block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1531, "end_step": 1707, "id": "a5f60475-4baa-4670-842a-5fc357c46de5"}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder completely off the dark table surface, moving it upward and toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the target vertical post on the stacked block assembly, making small positional adjustments to nest the cylinder onto the post."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the stacked block assembly, lifting slightly away from the block."}, {"label": "goal", "start_step": 1708, "end_step": 1812, "id": "c550d514-32ff-4f2d-bdc3-ffef04001b59"}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block placed adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table next to the wooden base to establish a grasp."}, {"label": "goal", "start_step": 1813, "end_step": 1998, "id": "e05e5068-84f1-42a6-861d-5bf283920cf1"}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift: Right hand moves upward with the grasped white cylindrical object, lifting the object completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white cylindrical object through the air toward the vertical purple rod mounted on the light wooden tray."}, {"label": "subtasks", "start_step": 1898, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the vertical purple rod on the tray, lowering the object to fit and nest onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the white hexagonal nut placed on the table surface."}, {"label": "goal", "start_step": 1999, "end_step": 2617, "id": "be569dd7-4d54-4514-9c0a-58922b71d23c"}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the stacked block base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2437, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the right area of the table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the fallen white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut, adjusting finger contact positions to establish a grasp on the nut."}, {"label": "goal", "start_step": 2618, "end_step": 2812, "id": "8ac295b3-1274-41c3-82e1-a8005908cee2"}, {"label": "subtasks", "start_step": 2662, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it leftward to the position above the wooden assembly stand."}, {"label": "subtasks", "start_step": 2722, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty target position on the assembly stand, positioning it to fit securely onto the stand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses downward on the top of the white bottle with a purple cap positioned on the wooden tray."}, {"label": "goal", "start_step": 2813, "end_step": 2899, "id": "4f4c2fff-631e-4b79-8a46-d533f8b11ec3"}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downwards toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2858, "end_step": 2917, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the dark table to form a grip."}, {"label": "goal", "start_step": 2900, "end_step": 3043, "id": "3a73527d-87e5-45d0-8543-0f2dc1eeee30"}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it toward the wooden block rack placed at the center of the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 3044, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green block with the purple post on the wooden rack and fits the block onto the post to form an assembled connection."}, {"label": "home", "start_step": 3086, "end_step": 3114, "id": "-IXM53DnWin5zLXquHMbR"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand slightly adjusts finger and wrist posture at the left side of the workspace, with no obvious wrist displacement and no contact with any objects. | Right hand: other:adjust_hand_posture: Right hand slightly adjusts finger and wrist posture at the right initial position of the workspace, with no obvious wrist displacement and no contact with any objects."}, {"label": "subtasks", "start_step": 22, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves horizontally left toward the green hexagonal block placed in front of the wooden peg base, remaining empty and not yet making contact with the target block."}, {"label": "subtasks", "start_step": 120, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table surface, closes fingers and adjusts contact points to form a grasp, with the block remaining supported by the table throughout this segment."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal nut off the table surface, then moves it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green hexagonal nut with the purple peg, then lowers it to fit onto the peg until the nut rests stably on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the seated green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 368, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release_reach: Right hand releases the green block and moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 479, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table and moves it upward toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 518, "end_step": 569, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg, forming an assembled connection."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: hold: Right hand holds the white hexagonal nut securely fitted on the purple peg without any visible movement of the hand or the nut."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand adjusts the white block on the purple peg to align and seat it into the wooden pegboard assembly."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downward empty toward the front white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block to establish a grasp on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white nut off the table surface and transports it upward toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers to release the assembled white nut on the purple rod, separating the hand from the nut."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves downwards from the upper assembly area toward the white hexagonal nut adjacent to the wooden assembly base on the table, without contacting the nut."}, {"label": "subtasks", "start_step": 952, "end_step": 1071, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight continuous adjustments to finger and wrist positions to form a stable grip."}, {"label": "subtasks", "start_step": 1072, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | 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": 1088, "end_step": 1101, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 1102, "end_step": 1161, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg and lowers the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal block that is fitted on the purple peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the dark table surface with fingers open."}, {"label": "subtasks", "start_step": 1222, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 1328, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward to position directly above the purple rod on the nearby wooden stand."}, {"label": "subtasks", "start_step": 1365, "end_step": 1439, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: place: Right hand lowers the green hexagonal block, aligns its central hole with the purple rod, slides the block down the rod, and sets it onto the existing green block on the wooden stand."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses the green block on the stacked block assembly downward to seat it firmly onto the white support post."}, {"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 workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface near the loose green block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1574, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder completely off the dark table surface, moving it upward and toward the stacked block assembly on the small wooden base."}, {"label": "subtasks", "start_step": 1620, "end_step": 1694, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the held white hexagonal cylinder with the target vertical post on the stacked block assembly, making small positional adjustments to nest the cylinder onto the post."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white cylindrical block on the stacked block assembly, lifting slightly away from the block."}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block placed adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1851, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table next to the wooden base to establish a grasp."}, {"label": "subtasks", "start_step": 1852, "end_step": 1867, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift: Right hand moves upward with the grasped white cylindrical object, lifting the object completely free of the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: transport: Right hand carries the lifted white cylindrical object through the air toward the vertical purple rod mounted on the light wooden tray."}, {"label": "subtasks", "start_step": 1898, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the vertical purple rod on the tray, lowering the object to fit and nest onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1995, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the white hexagonal nut placed on the table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger positions to form a stable grasp with the nut still resting on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2167, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod on the stacked block base."}, {"label": "subtasks", "start_step": 2168, "end_step": 2437, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit onto the rod, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut, allowing the nut to fall onto the right area of the table surface."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downward to the right toward the fallen white hexagonal nut resting on the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2661, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand closes fingers around the fallen white hexagonal nut, adjusting finger contact positions to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 2662, "end_step": 2721, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it leftward to the position above the wooden assembly stand."}, {"label": "subtasks", "start_step": 2722, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the white hexagonal block with the empty target position on the assembly stand, positioning it to fit securely onto the stand."}, {"label": "subtasks", "start_step": 2805, "end_step": 2834, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: press: Right hand presses downward on the top of the white bottle with a purple cap positioned on the wooden tray."}, {"label": "subtasks", "start_step": 2835, "end_step": 2857, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: reach: Right hand moves empty downwards toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2858, "end_step": 2917, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube on the dark table to form a grip."}, {"label": "subtasks", "start_step": 2918, "end_step": 2969, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it toward the wooden block rack placed at the center of the table."}, {"label": "subtasks", "start_step": 2970, "end_step": 3044, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, with no observable movement, rotation or posture change, and no contact with any operated objects. | Right hand: mate: Right hand aligns the green block with the purple post on the wooden rack and fits the block onto the post to form an assembled connection."}], "episode_index": 25}
+{"source_uid": "3c6968403a93e222", "num_frames": 2575, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "goal", "start_step": 0, "end_step": 174, "id": "8b3e92ca-2fbe-4b9b-83e8-8f7470400ca4"}, {"label": "valid", "start_step": 0, "end_step": 2545, "id": "XCnyOdYIe0JQ7dsR0pwxM"}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 175, "end_step": 312, "id": "d295ff7a-4046-4b7d-a082-48ef001e46d7"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "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 green cubic block up away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "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 mates the green cubic block onto the purple rod of the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "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 block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 313, "end_step": 411, "id": "8bf8b7e4-25f0-4b7a-8a92-74830afb03e0"}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00007", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00008", "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": 412, "end_step": 561, "id": "80162722-5add-42f8-a2f3-89c99b83cd62"}, {"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 operation area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "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 nut onto the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 547, "id": "reasoning-language-00011", "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 nut down along the leftmost purple rod until it fits onto the green base part."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00012", "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 nut by opening fingers and moving slightly upward away from the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 562, "end_step": 654, "id": "7e112cda-00c8-4e11-80b0-f4b02ad99cc4"}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "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 table."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00015", "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 table."}, {"label": "goal", "start_step": 655, "end_step": 819, "id": "ddf50f94-1d51-4d56-bb5a-316ff7fe758c"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 hollow part off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "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 hollow part with the purple rod by aligning its hole with the rod top."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "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 hollow part down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal hollow part and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "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 in front of the wooden base."}, {"label": "goal", "start_step": 820, "end_step": 921, "id": "ac8668ef-0b9f-4f52-b858-9780796b3f38"}, {"label": "subtasks", "start_step": 840, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 922, "end_step": 1170, "id": "39a57e71-3dbe-4ae7-a77c-f904d2634c48"}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00023", "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 base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00024", "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 from its grasp."}, {"label": "goal", "start_step": 1171, "end_step": 1266, "id": "27029f32-3cf6-43da-b6d3-b419c505e744"}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00026", "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": 1267, "end_step": 1413, "id": "fb271fdd-c98c-457b-b54b-179985ff92de"}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00027", "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 rack with vertical pegs."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00028", "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 vertical peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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 downward from the block set toward the white hexagonal block on the lower table surface."}, {"label": "goal", "start_step": 1414, "end_step": 1497, "id": "e97bfa6e-f4e6-4128-b1bf-51b341011423"}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "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 fingers to grasp the white hexagonal block on the lower table surface."}, {"label": "goal", "start_step": 1498, "end_step": 1641, "id": "4e1ab1b3-a31c-4bfe-9aa3-6c6485226dfa"}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the green post on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand lowers the white hollow cylinder towards the top of the green post on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 fits the white hollow cylinder onto the green post to complete the assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "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 cylindrical block on the wooden base by opening fingers."}, {"label": "goal", "start_step": 1642, "end_step": 1746, "id": "ad305233-94ed-416e-bfb0-92b5b742a2e4"}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1784, "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 closes fingers to grasp the white cylindrical block on the table next to the wooden base."}, {"label": "goal", "start_step": 1747, "end_step": 1911, "id": "807c0935-9ebf-4ca0-8085-9a2acb3db798"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00038", "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": 1905, "end_step": 1941, "id": "reasoning-language-00039", "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."}, {"label": "goal", "start_step": 1912, "end_step": 1995, "id": "5fa7a81c-77ba-4701-b1d3-a5b7bf9c1638"}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00040", "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 hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1996, "end_step": 2253, "id": "6e4ced5f-cef9-48ec-81b4-d92b9b90b98c"}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00041", "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 object from the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2167, "id": "reasoning-language-00042", "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 object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00043", "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 cylindrical object down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 inserts the small pin into the top hole of the white cylinder on the wooden tray."}, {"label": "goal", "start_step": 2254, "end_step": 2349, "id": "951d0997-167f-4c68-84bf-2a720af881b1"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "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 green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cube on the table."}, {"label": "goal", "start_step": 2350, "end_step": 2517, "id": "dbb2811c-f344-428f-b0ca-98a08bb7c83b"}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "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 from the table and moves it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2497, "id": "reasoning-language-00048", "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 top of the white bottle with purple cap and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "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 bottle."}, {"label": "home", "start_step": 2546, "end_step": 2574, "id": "QI_NIRcEqaSqL7wPmNYUa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand touches and adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "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 green cubic block up away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: transport: Right hand transports the green cubic block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "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 mates the green cubic block onto the purple rod of the wooden base, adjusting to fit it properly."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "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 block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00007", "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 white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00008", "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": 435, "end_step": 457, "id": "reasoning-language-00009", "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 nut from the tabletop and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "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 nut onto the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 547, "id": "reasoning-language-00011", "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 nut down along the leftmost purple rod until it fits onto the green base part."}, {"label": "subtasks", "start_step": 548, "end_step": 554, "id": "reasoning-language-00012", "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 nut by opening fingers and moving slightly upward away from the rod."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00014", "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 table."}, {"label": "subtasks", "start_step": 608, "end_step": 681, "id": "reasoning-language-00015", "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 table."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "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 hollow part off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "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 hollow part with the purple rod by aligning its hole with the rod top."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00018", "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 hollow part down along the purple rod until it reaches the bottom."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: release_retreat: Right hand releases the white hexagonal hollow part and retreats away from the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00020", "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 in front of the wooden base."}, {"label": "subtasks", "start_step": 840, "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: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00022", "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 above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1161, "id": "reasoning-language-00023", "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 base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00024", "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 from its grasp."}, {"label": "subtasks", "start_step": 1200, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: reach: Right hand moves down towards the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00026", "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": 1305, "end_step": 1334, "id": "reasoning-language-00027", "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 rack with vertical pegs."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00028", "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 vertical peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "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 downward from the block set toward the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "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 fingers to grasp the white hexagonal block on the lower table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "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_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the green post on the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: place: Right hand lowers the white hollow cylinder towards the top of the green post on the wooden base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1634, "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 fits the white hollow cylinder onto the green post to complete the assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "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 cylindrical block on the wooden base by opening fingers."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "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 on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1784, "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 closes fingers to grasp the white cylindrical block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "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 cylindrical block from the table and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00038", "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": 1905, "end_step": 1941, "id": "reasoning-language-00039", "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."}, {"label": "subtasks", "start_step": 1942, "end_step": 2031, "id": "reasoning-language-00040", "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 hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00041", "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 object from the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2167, "id": "reasoning-language-00042", "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 object with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2249, "id": "reasoning-language-00043", "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 cylindrical object down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "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 inserts the small pin into the top hole of the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "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 green cube on the lower right area of the table."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operation area without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green cube on the table."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00047", "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 from the table and moves it towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 2415, "end_step": 2497, "id": "reasoning-language-00048", "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 top of the white bottle with purple cap and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00049", "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 bottle."}], "episode_index": 26}
+{"source_uid": "a1a4515c6887a268", "num_frames": 2521, "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 empty from its initial position on the far left to the home position above the left side of the table, adjusting finger posture as it moves, and comes to a stop. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "2d5a5bb0-19ee-482f-b60f-817a1540b494"}, {"label": "valid", "start_step": 0, "end_step": 2491, "id": "hVjhLYfzKDiJgRzu8DEh3"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block adjacent to the wooden assembly, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "goal", "start_step": 205, "end_step": 384, "id": "5e6f1204-969d-49a6-b70f-59a7c210feed"}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the supporting surface and transports it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 385, "end_step": 483, "id": "9430e426-1f6c-480b-9f38-8325886a48fa"}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and making slight adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 484, "end_step": 630, "id": "1bf54bac-60ec-4f9c-bbb9-bc952f9ac44d"}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from the area near the block assembly base toward the white hexagonal block resting on the table in front of the base, remaining empty and not making contact with the target block during movement."}, {"label": "goal", "start_step": 631, "end_step": 720, "id": "f1c6089b-3517-4659-912f-4180d3d81a12"}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closing fingers and adjusting finger positions to establish a stable grip on the block while the block stays on the table surface."}, {"label": "goal", "start_step": 721, "end_step": 936, "id": "03f3064c-7a73-4391-9b63-05ad1836304c"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 780, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, makes slight positional adjustments, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and slightly toward the camera from above the wooden peg assembly, approaching the white hexagonal nut placed on the table near the base, with fingers held open."}, {"label": "goal", "start_step": 937, "end_step": 1032, "id": "85c91ade-896c-42ed-a4d3-bea8f6b0d614"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the top of the white hexagonal nut, fingers flex and adjust contact positions to form a stable grip on the nut, which remains resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface, with no observable movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 1033, "end_step": 1206, "id": "6a5e799c-d81b-4196-ae1b-1c5d005fc4b0"}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the black table surface, moving it upward and horizontally toward the vertical purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the vertical purple peg on the wooden base, lowering the block onto the peg and making small positional adjustments to fit it into the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the top of the wooden block base toward the green hexagonal block placed on the dark table surface."}, {"label": "goal", "start_step": 1207, "end_step": 1266, "id": "ca752eca-0dfb-4ac2-bd50-1a4476afa37f"}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip on the block."}, {"label": "goal", "start_step": 1267, "end_step": 1449, "id": "ebbeaf38-4cc8-40c1-b549-976c5b3287eb"}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, then moves the block upward and toward the target purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments before lowering the block to fit onto the peg over the existing white block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the grip on the green hexagonal block that is seated on the purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: retreat: Right hand moves empty away from the assembled green block on the peg after releasing its grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the position adjacent to the stacked block assembly toward the front white hexagonal block on the table, with fingers slightly spread during the approaching movement."}, {"label": "goal", "start_step": 1450, "end_step": 1533, "id": "bcd3aa1b-8a12-4406-9ac4-e1a1696b141d"}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closes its fingers around the block and makes small finger adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1534, "end_step": 1728, "id": "c2d17bdc-4d04-493d-9d84-207ee39c435d"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly, positioning the block directly above the purple vertical rod on the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod and seat it against the stacked block below, opening fingers to release the block and separate the hand from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves from the stacked block area toward the small white hexagonal nut adjacent to the wooden block base, holding fingers extended as it approaches the target."}, {"label": "goal", "start_step": 1729, "end_step": 1827, "id": "13a4d402-cb0c-4eb3-9263-fc7a20ccc78d"}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the small white hexagonal nut adjacent to the wooden block base, adjusting finger positions around the nut to establish a stable grip."}, {"label": "goal", "start_step": 1828, "end_step": 1947, "id": "c00eb814-0784-449e-a8b5-50545660be52"}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moves it upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block to fit it onto the rod to assemble with the existing stacked blocks."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with no contact to the block."}, {"label": "goal", "start_step": 1948, "end_step": 2010, "id": "2bed9694-06ad-4edc-95fa-b8f2c9b73c5c"}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers around the white and green block on the table to form a stable grasp, with the block resting on the table surface."}, {"label": "goal", "start_step": 2011, "end_step": 2178, "id": "1754921a-5ecb-4866-810a-332baf29e3a7"}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white and green block vertically upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white and green block toward the wooden block stand, positioning it directly above the purple vertical rod on the stand."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white and green block with the purple rod, lowering the block to fit the rod through its hole."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the white and green block along the purple rod until the block rests stably on the supporting block fixed on the wooden stand."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release_retreat: Right hand opens its fingers to release the placed white and green block, moving away from the assembled block on the stand."}, {"label": "goal", "start_step": 2179, "end_step": 2253, "id": "c275e63c-70bc-4a3c-967a-9e9c82f41703"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface, staying out of contact with the block during movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cubic block on the dark table surface, closing fingers and adjusting finger positions to establish a grip on the block which remains supported by the table."}, {"label": "goal", "start_step": 2254, "end_step": 2448, "id": "677944bf-e936-4760-a506-95352d333238"}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and transports it upward and leftward to the position directly above the stacked objects on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the green block downward, adjusting alignment to place it steadily on top of the rightmost white cylindrical object on the tray, until the block is supported by the cylinder."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green block, beginning to move away from the placed object."}, {"label": "home", "start_step": 2492, "end_step": 2520, "id": "Tr0E3HzWl9CbLMmFqIsjn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty from its initial position on the far left to the home position above the left side of the table, adjusting finger posture as it moves, and comes to a stop. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty from its initial position on the far right toward the green hexagonal block positioned in front of the wooden block assembly, adjusting finger posture during movement until it is positioned close to the target block."}, {"label": "subtasks", "start_step": 135, "end_step": 247, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block adjacent to the wooden assembly, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the supporting surface and transports it upward toward the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 285, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the target purple peg, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closing fingers and making slight adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 502, "end_step": 517, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut vertically upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand moves the lifted white hexagonal nut toward the purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and leftward from the area near the block assembly base toward the white hexagonal block resting on the table in front of the base, remaining empty and not making contact with the target block during movement."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, closing fingers and adjusting finger positions to establish a stable grip on the block while the block stays on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 780, "end_step": 929, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, makes slight positional adjustments, and lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and slightly toward the camera from above the wooden peg assembly, approaching the white hexagonal nut placed on the table near the base, with fingers held open."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the top of the white hexagonal nut, fingers flex and adjust contact positions to form a stable grip on the nut, which remains resting on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the table surface, with no observable movement of the hand, fingers, or the nut."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grasp around the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block clear of the black table surface, moving it upward and horizontally toward the vertical purple peg mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1199, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped white hexagonal block with the vertical purple peg on the wooden base, lowering the block onto the peg and making small positional adjustments to fit it into the assembly."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the top of the wooden block base toward the green hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1289, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making slight finger and wrist adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface, then moves the block upward and toward the target purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, making small positional adjustments before lowering the block to fit onto the peg over the existing white block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens fingers gradually to release the grip on the green hexagonal block that is seated on the purple peg."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: retreat: Right hand moves empty away from the assembled green block on the peg after releasing its grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward from the position adjacent to the stacked block assembly toward the front white hexagonal block on the table, with fingers slightly spread during the approaching movement."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, closes its fingers around the block and makes small finger adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward until the block is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1619, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden block assembly, positioning the block directly above the purple vertical rod on the assembly."}, {"label": "subtasks", "start_step": 1620, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod and seat it against the stacked block below, opening fingers to release the block and separate the hand from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves from the stacked block area toward the small white hexagonal nut adjacent to the wooden block base, holding fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the small white hexagonal nut adjacent to the wooden block base, adjusting finger positions around the nut to establish a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table, moves it upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowers the block to fit it onto the rod to assemble with the existing stacked blocks."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and closes fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 2010, "end_step": 2031, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand adjusts its fingers around the white and green block on the table to form a stable grasp, with the block resting on the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2047, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white and green block vertically upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: transport: Right hand carries the lifted white and green block toward the wooden block stand, positioning it directly above the purple vertical rod on the stand."}, {"label": "subtasks", "start_step": 2078, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white and green block with the purple rod, lowering the block to fit the rod through its hole."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the white and green block along the purple rod until the block rests stably on the supporting block fixed on the wooden stand."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release_retreat: Right hand opens its fingers to release the placed white and green block, moving away from the assembled block on the stand."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface, staying out of contact with the block during movement."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cubic block on the dark table surface, closing fingers and adjusting finger positions to establish a grip on the block which remains supported by the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped green block completely off the table surface and transports it upward and leftward to the position directly above the stacked objects on the wooden tray."}, {"label": "subtasks", "start_step": 2332, "end_step": 2444, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: place: Right hand lowers the green block downward, adjusting alignment to place it steadily on top of the rightmost white cylindrical object on the tray, until the block is supported by the cylinder."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the home position above the left table surface without any movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green block, beginning to move away from the placed object."}], "episode_index": 27}
+{"source_uid": "f78b0bc2db76e285", "num_frames": 2326, "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 bends its extended index finger to align with other fingers in a relaxed semi-bent position, with no significant wrist movement, and does not contact any object. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "goal", "start_step": 0, "end_step": 153, "id": "eacaaa45-f733-4f63-9aff-5bbb079b20fd"}, {"label": "valid", "start_step": 0, "end_step": 2299, "id": "ssKl6ARK8Fi3CExsp2klD"}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, closes its fingers around the nut to establish a grip, with the nut remaining supported by the table."}, {"label": "goal", "start_step": 154, "end_step": 291, "id": "189704d9-7490-45e3-9693-e91310dcbb63"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above a purple vertical rod on the assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand adjusts the orientation and position of the green hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: press_release: Right hand applies downward pressure to the white cylindrical sleeve on the rightmost purple peg to seat it fully on the peg, opening fingers to release the sleeve as the motion completes."}, {"label": "goal", "start_step": 292, "end_step": 375, "id": "9b390cdc-c581-46a0-90f5-3c5d72d4f073"}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward and leftward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers and adjusts contact positions to form a stable grasp while the nut remains supported by the table surface."}, {"label": "goal", "start_step": 376, "end_step": 516, "id": "f6fc6632-702d-4e43-af55-39c1a0180f6f"}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg, making small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut on the table in front of the base, with fingers open and no contact with the nut."}, {"label": "goal", "start_step": 517, "end_step": 612, "id": "d62712ad-c121-441d-87b3-1e6eeb962363"}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut."}, {"label": "goal", "start_step": 613, "end_step": 765, "id": "32622bfe-738c-4455-a838-ba086b3e2118"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | 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": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut on the purple peg."}, {"label": "goal", "start_step": 766, "end_step": 873, "id": "cd84fab7-6d66-4c64-bc9a-b948672cb1e1"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal nut on the table in front of the wooden base, with fingers extended."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers close and make small adjustments to establish a grasp on the nut."}, {"label": "goal", "start_step": 874, "end_step": 993, "id": "1d1e8403-93e8-4486-98e5-d7c000d6637e"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal nut horizontally toward the purple vertical rod on the wooden base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple vertical rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the green hexagonal block on the dark table surface without making contact."}, {"label": "goal", "start_step": 994, "end_step": 1164, "id": "e4fbfade-099a-48bd-aaa8-f5c0fefe93bf"}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and contact points to establish a stable grasp, with the block remaining stationary on the table surface."}, {"label": "goal", "start_step": 1165, "end_step": 1272, "id": "d5728f9f-a8a3-4cbc-97aa-ef9f0cac6d11"}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward and forward toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "goal", "start_step": 1273, "end_step": 1368, "id": "9a905ae8-fb70-47a0-9c7e-9a9c6893ed56"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers and adjusts contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block on the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "goal", "start_step": 1369, "end_step": 1515, "id": "2e0129b2-0fe3-4fe8-8897-3ca194f1915b"}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully off the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple rod mounted on the small wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand releases the upper white stacked block on the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1516, "end_step": 1596, "id": "95130b7e-0a86-42e6-b790-bf055f4db00d"}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making slight contact adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1597, "end_step": 1749, "id": "9d2b053e-a50f-45bf-8c62-5b4a7ab1aaff"}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, nesting it into position on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving fingers away from the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves rightward and downward from the area near the stacked blocks on the wooden tray, approaching the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 1750, "end_step": 1875, "id": "566577b3-cc30-4d87-8ca5-a374abf59593"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand grips the white hexagonal nut and moves upward, lifting the nut partially off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the small white and green block resting on the black table surface."}, {"label": "goal", "start_step": 1876, "end_step": 2031, "id": "460a473a-c58d-4bf4-8965-aceaf6349727"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped block fully off the table surface and transports it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the held block to place it onto the empty slot on the wooden holder, where the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand makes slight position and orientation adjustments to the block to align it with the slot and presses it down to fully insert the block into the slot."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release_retreat: Right hand opens its fingers to release the fully inserted block and moves slightly away from the wooden block holder."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the area near the stacked white bottles toward the green cubic block on the black table surface, fingers extended while approaching the target."}, {"label": "goal", "start_step": 2032, "end_step": 2103, "id": "25f39590-de1f-4c1d-8892-4368e44c21d1"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small adjustments to finger positions to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green and white block steadily on the dark table surface without moving."}, {"label": "goal", "start_step": 2104, "end_step": 2256, "id": "762e9e81-9661-4045-a14a-204b1366623b"}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the held green and white block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand carries the lifted green and white block up and left toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the held green and white block with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the aligned green and white block down into the slot until the block rests stably on the wooden rack."}, {"label": "home", "start_step": 2300, "end_step": 2325, "id": "7ttYIS8n21P4f6HQfqh56"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_hand_posture: Left hand bends its extended index finger to align with other fingers in a relaxed semi-bent position, with no significant wrist movement, and does not contact any object. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves diagonally downward and leftward from its initial right resting position toward the green hexagonal nut on the table, staying empty with fingers extended and approaching the nut without contact."}, {"label": "subtasks", "start_step": 128, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal nut on the table surface, closes its fingers around the nut to establish a grip, with the nut remaining supported by the table."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the table surface and moves it upward to position directly above a purple vertical rod on the assembly rack."}, {"label": "subtasks", "start_step": 218, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand adjusts the orientation and position of the green hexagonal block to align its central hole with the purple vertical rod, then lowers the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: press_release: Right hand applies downward pressure to the white cylindrical sleeve on the rightmost purple peg to seat it fully on the peg, opening fingers to release the sleeve as the motion completes."}, {"label": "subtasks", "start_step": 322, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward and leftward toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 338, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closes fingers and adjusts contact positions to form a stable grasp while the nut remains supported by the table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above the purple peg on the wooden assembly block."}, {"label": "subtasks", "start_step": 435, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it to fit onto the peg, making small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the wooden block assembly base toward the white hexagonal nut on the table in front of the base, with fingers open and no contact with the nut."}, {"label": "subtasks", "start_step": 562, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the table, making slight finger adjustments to establish grip on the nut."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it toward the purple peg on the wooden block assembly."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and fits the nut down onto the peg."}, {"label": "subtasks", "start_step": 705, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | 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": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the grasped white hexagonal nut on the purple peg."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the top of the stacked blocks toward the white hexagonal nut on the table in front of the wooden base, with fingers extended."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut on the table, fingers close and make small adjustments to establish a grasp on the nut."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal nut horizontally toward the purple vertical rod on the wooden base, positioning it directly above the rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple vertical rod and lowers it to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted onto the purple vertical rod."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the green hexagonal block on the dark table surface without making contact."}, {"label": "subtasks", "start_step": 1028, "end_step": 1177, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the green hexagonal block, adjusting finger positions and contact points to establish a stable grasp, with the block remaining stationary on the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block fully off the table surface and moves it upward and forward toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward with an open hand toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1341, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand contacts the white hexagonal block, closes fingers and adjusts contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 1342, "end_step": 1364, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block on the table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table to form a stable grasp."}, {"label": "subtasks", "start_step": 1388, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until it is fully off the black table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple rod mounted on the small wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1514, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand releases the upper white stacked block on the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal block placed on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making slight contact adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, nesting it into position on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving fingers away from the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves rightward and downward from the area near the stacked blocks on the wooden tray, approaching the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, making small adjustments to finger contact positions to form a stable grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand grips the white hexagonal nut and moves upward, lifting the nut partially off the black table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes its fingers to form a stable grasp around the small white and green block resting on the black table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift_transport: Right hand lifts the grasped block fully off the table surface and transports it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 1942, "end_step": 1957, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the held block to place it onto the empty slot on the wooden holder, where the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 1958, "end_step": 2017, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand makes slight position and orientation adjustments to the block to align it with the slot and presses it down to fully insert the block into the slot."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: release_retreat: Right hand opens its fingers to release the fully inserted block and moves slightly away from the wooden block holder."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: reach: Right hand moves downward from the area near the stacked white bottles toward the green cubic block on the black table surface, fingers extended while approaching the target."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table, making small adjustments to finger positions to establish a stable grip, with the block still resting on the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: hold: Right hand holds the green and white block steadily on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2122, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: lift: Right hand lifts the held green and white block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: transport: Right hand carries the lifted green and white block up and left toward the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: mate: Right hand aligns the held green and white block with the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2190, "end_step": 2264, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary on the left side of the workspace, with no observable movement of fingers, wrist or arm. | Right hand: place: Right hand lowers the aligned green and white block down into the slot until the block rests stably on the wooden rack."}], "episode_index": 28}
+{"source_uid": "e5846638ba0768b1", "num_frames": 2653, "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 desktop without moving. | Right hand: reach: Right hand moves towards the green hexagonal block on the desktop in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 189, "id": "64752606-1691-4141-9c10-bebf9cbc8380"}, {"label": "valid", "start_step": 0, "end_step": 2623, "id": "Q4Ew9he8ca4yky_vPN9iD"}, {"label": "subtasks", "start_step": 90, "end_step": 217, "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 contacts the green hexagonal block, fingers close and adjust to establish a stable grasp."}, {"label": "goal", "start_step": 190, "end_step": 321, "id": "00d5ef2c-9e52-4a21-a9de-d5ec6dcf2626"}, {"label": "subtasks", "start_step": 218, "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 cube from the table and transports it to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "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 cube with the purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 321, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 322, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green cube that has been fitted onto the purple peg."}, {"label": "goal", "start_step": 322, "end_step": 396, "id": "9433130c-8d38-420d-b63e-729b421ea057"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00008", "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 hexagonal block on the table."}, {"label": "goal", "start_step": 397, "end_step": 612, "id": "43958c2b-12d7-435d-9681-4ec99e69876e"}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "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 transports it towards the wooden base with purple posts."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "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 of the wooden base at the center of the table."}, {"label": "goal", "start_step": 613, "end_step": 699, "id": "503bb27a-17f3-41e6-8205-7cc9d2f7dddd"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00013", "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 black table surface."}, {"label": "goal", "start_step": 700, "end_step": 849, "id": "9bad341b-795b-4335-b81a-49479a9e0a79"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "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 transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "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 rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00016", "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 down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00017", "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 rod without moving."}, {"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 desktop without moving. | Right hand: place: Right hand places the white ring onto the purple post on the wooden base."}, {"label": "goal", "start_step": 850, "end_step": 948, "id": "4801b3a7-79eb-4978-a9f3-e922aaf98ea1"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00019", "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 ring on the table below the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00020", "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 ring on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 949, "end_step": 1065, "id": "9c95d88a-5fed-4e35-b2e5-1dbc609c8991"}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1064, "id": "reasoning-language-00022", "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 on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward from the upper area of the wooden peg base toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1066, "end_step": 1131, "id": "fad44346-a929-4276-a0e8-b891a49e89b3"}, {"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 desktop without moving. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 1132, "end_step": 1725, "id": "6e38d8d5-1ee2-49ee-914e-2431d5dc3e29"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00025", "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 off the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00026", "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 hexagonal block to the area above the target white peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1687, "id": "reasoning-language-00027", "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 white peg and pushes it downward to assemble onto the peg."}, {"label": "subtasks", "start_step": 1688, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand opens its fingers to release the green hexagonal block from grasp."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: retreat: Right hand moves upward and away from the wooden peg base after releasing the block."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1726, "end_step": 1803, "id": "ed6627f7-0c0d-466c-8fd0-23506f9d078d"}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without 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"reasoning-language-00040", "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 with the purple rod by inserting it downwards along the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "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 that is fitted on the purple rod."}, {"label": "goal", "start_step": 2155, "end_step": 2214, "id": "d28ce08d-84dc-4871-85ac-9fb513c0bff4"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "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 its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2215, "end_step": 2382, "id": "c6967a3d-149a-420c-8d43-e9ecf4f9fff1"}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand lowers and places the white hexagonal block onto the purple peg."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "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 block with purple top on the wooden base, fingers separate from the block."}, {"label": "goal", "start_step": 2383, "end_step": 2451, "id": "f9a5f03a-58ce-4974-8d15-9f5353d1a2f7"}, {"label": 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table."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00008", "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 hexagonal block on the table."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "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 transports it towards the wooden base with purple posts."}, {"label": "subtasks", "start_step": 458, "end_step": 599, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns and fits the white hexagonal block onto the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00011", "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 of the wooden base at the center of the table."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 727, "id": "reasoning-language-00013", "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 black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "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 transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "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 rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00016", "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 down along the purple rod to fix its position."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side 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hand: place: Right hand places the white hollow cylinder over the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1889, "id": "reasoning-language-00034", "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 hollow cylinder downward along the purple peg to fit it tightly."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00035", "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 hollow cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00036", "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 cylindrical block onto the top of the green block on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block on the table next to the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00038", "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 table."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00039", "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 transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00040", "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 with the purple rod by inserting it downwards along the rod."}, {"label": "subtasks", "start_step": 2145, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "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 that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "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 downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "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 its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2228, "end_step": 2257, "id": "reasoning-language-00045", "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 away from the table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand carries the white hexagonal block towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand lowers and places the white hexagonal block onto the purple peg."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00048", "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 block with purple top on the wooden base, fingers separate from the block."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward and rightward toward the green block on the black table 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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/info.json
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+{
+    "codebase_version": "v3.0",
+    "robot_type": "robot",
+    "total_episodes": 30,
+    "total_frames": 86318,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 200,
+    "fps": 30,
+    "splits": {
+        "train": "0:30"
+    },
+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
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+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..a803a9fbf4aababbdd087c0f73bb5fbc13234d27
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_30_16_12_36_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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