[
  {
    "preview_episode_index": 6,
    "episode_id": "real/roboInter_droid/codex/13debb0b-bcce-5faa-900c-78ec14f655af",
    "source_episode_index": 114,
    "source_episode_name": "10045_exterior_image_1_left",
    "source_version": "0208b79c34eca4d214cdb5d07f5ae0f7cc634340",
    "start_frame": 74,
    "end_frame": 186,
    "contact_start_frame": 94,
    "contact_end_frame": 166,
    "fps": 10.0,
    "primitive": "other",
    "source_skill": "pick",
    "instruction": "take a box out of another box, and then place the other box inside the first box",
    "params": {},
    "annotator": "robointer-contact-v4-original-language",
    "annotator_version": "robointer-contact-v4-original-language",
    "boundary_precision": "Endpoint is a gripper-reopening/RGB estimate reviewed using the displayed -3/0/+3-frame bracket; not physical-contact force ground truth.",
    "wrist_review_note": "Target is recognizable in all three displayed starting wrist frames; reopening/release sequence was visually reviewed.",
    "cameras": {
      "primary": {
        "source_video": "source/episodes/000114/primary.mp4",
        "source_sha256": "03b8ecc37145a5a977df5ee51b8ae0b0a5878ba42d3a10c77f9607b16058eb52",
        "target_visible_at_start": true,
        "checked_source_frames": [
          74,
          75,
          76
        ],
        "clip_video": "videos/chunk-000/observation.images.primary/episode_000006.mp4"
      },
      "wrist": {
        "source_video": "source/episodes/000114/wrist.mp4",
        "source_sha256": "db3c0e4fb3b0e3186bd170ccb75a81a10000030694f48757e4ae5f34ba15bc7f",
        "target_visible_at_start": true,
        "checked_source_frames": [
          74,
          75,
          76,
          163,
          166,
          169
        ],
        "clip_video": "videos/chunk-000/observation.images.wrist/episode_000006.mp4"
      }
    },
    "instruction_source": "annotation.instruction_add",
    "source_language": {
      "annotation.instruction_add": "take a box out of another box, and then place the other box inside the first box",
      "annotation.substask": "pick up a basket on two stacked baskets",
      "other_information.language_instruction_2": "Unstack the two baskets then stack the baskets back together",
      "other_information.language_instruction_3": "Swap around the utensil containers"
    },
    "task_view_episode_index": 0,
    "previous_preview_episode_index": 6,
    "concrete_task_id": "droid_unstack_basket",
    "configuration": "Franka / DROID",
    "source_dataset_url": "https://huggingface.co/datasets/Travor278/a2r-robointer-contact-preview/tree/3156790d9f81fadb052489faf2c5834889971814/",
    "task_viewer_warning": [
      "源指令包含多个步骤，本片段仅展示其中部分阶段。"
    ]
  }
]