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 <header><div><a href="../index.html" style="color:#6f92c8;text-decoration:none;font-size:13px">&larr; all episodes</a><h1 style="margin-top:4px">Organizing Refrigerator Items</h1><div class="sub"><code>binocular-home-ego</code> &middot; demo02 &middot; HOME-ORGANIZE &middot; 41.66s</div></div><a class="x" href="../../index.html" title="all datasets">&times;</a></header>
 
 <div class="layout">
diff --git a/egoSample/demo05/thumb.jpg b/egoSample/ego-legacy/demo05/thumb.jpg
similarity index 100%
rename from egoSample/demo05/thumb.jpg
rename to egoSample/ego-legacy/demo05/thumb.jpg
diff --git a/egoSample/demo05/video/depth.mp4 b/egoSample/ego-legacy/demo05/video/depth.mp4
similarity index 100%
rename from egoSample/demo05/video/depth.mp4
rename to egoSample/ego-legacy/demo05/video/depth.mp4
diff --git a/egoSample/demo05/video/left.mp4 b/egoSample/ego-legacy/demo05/video/left.mp4
similarity index 100%
rename from egoSample/demo05/video/left.mp4
rename to egoSample/ego-legacy/demo05/video/left.mp4
diff --git a/egoSample/demo05/video/right.mp4 b/egoSample/ego-legacy/demo05/video/right.mp4
similarity index 100%
rename from egoSample/demo05/video/right.mp4
rename to egoSample/ego-legacy/demo05/video/right.mp4
diff --git a/egoSample/demo05/viewer.html b/egoSample/ego-legacy/demo05/viewer.html
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+</style><style>header .x,header a[href^='..']{display:none!important}.layout{align-items:start}#spanList{overflow-y:auto}</style><script>addEventListener('load',function(){function s(){var L=document.querySelector('.layout');if(!L)return;var l=L.children[0],r=L.children[1],sl=document.getElementById('spanList');if(!l||!r||!sl)return;var ch=r.offsetHeight-sl.offsetHeight;sl.style.maxHeight=Math.max(160,l.offsetHeight-ch)+'px';}function hf(){try{if(typeof HEAD==='undefined'||typeof dSt==='undefined')return;var P=HEAD.pos.filter(function(p){return p;});if(!P.length)return;var mn=[1e9,1e9,1e9],mx=[-1e9,-1e9,-1e9];P.forEach(function(p){for(var k=0;k<3;k++){mn[k]=Math.min(mn[k],p[k]);mx[k]=Math.max(mx[k],p[k]);}});var sp=Math.max(mx[0]-mn[0],mx[1]-mn[1],mx[2]-mn[2])||0.3;dSt.t=[(mn[0]+mx[0])/2,(mn[1]+mx[1])/2,(mn[2]+mx[2])/2];dSt.r=Math.max(dSt.rmin,sp*1.45);dSt.dirty=true;}catch(e){}}s();hf();setTimeout(function(){s();hf();},400);setTimeout(s,900);addEventListener('resize',s);});</script></head><body>
 <header><div><a href="../index.html" style="color:#6f92c8;text-decoration:none;font-size:13px">&larr; all episodes</a><h1 style="margin-top:4px">Organizing Fan Power Cord</h1><div class="sub"><code>binocular-home-ego</code> &middot; demo05 &middot; STORAGE-BOX &middot; 72.50s</div></div><a class="x" href="../../index.html" title="all datasets">&times;</a></header>
 
 <div class="layout">
diff --git a/egoSample/demo07/thumb.jpg b/egoSample/ego-legacy/demo07/thumb.jpg
similarity index 100%
rename from egoSample/demo07/thumb.jpg
rename to egoSample/ego-legacy/demo07/thumb.jpg
diff --git a/egoSample/demo07/video/depth.mp4 b/egoSample/ego-legacy/demo07/video/depth.mp4
similarity index 100%
rename from egoSample/demo07/video/depth.mp4
rename to egoSample/ego-legacy/demo07/video/depth.mp4
diff --git a/egoSample/demo07/video/left.mp4 b/egoSample/ego-legacy/demo07/video/left.mp4
similarity index 100%
rename from egoSample/demo07/video/left.mp4
rename to egoSample/ego-legacy/demo07/video/left.mp4
diff --git a/egoSample/demo07/video/right.mp4 b/egoSample/ego-legacy/demo07/video/right.mp4
similarity index 100%
rename from egoSample/demo07/video/right.mp4
rename to egoSample/ego-legacy/demo07/video/right.mp4
diff --git a/egoSample/demo07/viewer.html b/egoSample/ego-legacy/demo07/viewer.html
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 <header><div><a href="../index.html" style="color:#6f92c8;text-decoration:none;font-size:13px">&larr; all episodes</a><h1 style="margin-top:4px">Dicing Watermelon For Storage</h1><div class="sub"><code>binocular-home-kitchen-ego</code> &middot; demo07 &middot; CHOP-CUT &middot; 373.00s</div></div><a class="x" href="../../index.html" title="all datasets">&times;</a></header>
 
 <div class="layout">
diff --git a/egoSample/demo08/thumb.jpg b/egoSample/ego-legacy/demo08/thumb.jpg
similarity index 100%
rename from egoSample/demo08/thumb.jpg
rename to egoSample/ego-legacy/demo08/thumb.jpg
diff --git a/egoSample/demo08/video/depth.mp4 b/egoSample/ego-legacy/demo08/video/depth.mp4
similarity index 100%
rename from egoSample/demo08/video/depth.mp4
rename to egoSample/ego-legacy/demo08/video/depth.mp4
diff --git a/egoSample/demo08/video/left.mp4 b/egoSample/ego-legacy/demo08/video/left.mp4
similarity index 100%
rename from egoSample/demo08/video/left.mp4
rename to egoSample/ego-legacy/demo08/video/left.mp4
diff --git a/egoSample/demo08/video/right.mp4 b/egoSample/ego-legacy/demo08/video/right.mp4
similarity index 100%
rename from egoSample/demo08/video/right.mp4
rename to egoSample/ego-legacy/demo08/video/right.mp4
diff --git a/egoSample/demo08/viewer.html b/egoSample/ego-legacy/demo08/viewer.html
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rename from egoSample/demo08/viewer.html
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 <header><div><a href="../index.html" style="color:#6f92c8;text-decoration:none;font-size:13px">&larr; all episodes</a><h1 style="margin-top:4px">Wiping Office Desk Surface</h1><div class="sub"><code>binocular-office-ego</code> &middot; demo08 &middot; OFFICE-CLEAN &middot; 85.84s</div></div><a class="x" href="../../index.html" title="all datasets">&times;</a></header>
 
 <div class="layout">
diff --git a/egoSample/demo09/thumb.jpg b/egoSample/ego-legacy/demo09/thumb.jpg
similarity index 100%
rename from egoSample/demo09/thumb.jpg
rename to egoSample/ego-legacy/demo09/thumb.jpg
diff --git a/egoSample/demo09/video/depth.mp4 b/egoSample/ego-legacy/demo09/video/depth.mp4
similarity index 100%
rename from egoSample/demo09/video/depth.mp4
rename to egoSample/ego-legacy/demo09/video/depth.mp4
diff --git a/egoSample/demo09/video/left.mp4 b/egoSample/ego-legacy/demo09/video/left.mp4
similarity index 100%
rename from egoSample/demo09/video/left.mp4
rename to egoSample/ego-legacy/demo09/video/left.mp4
diff --git a/egoSample/demo09/video/right.mp4 b/egoSample/ego-legacy/demo09/video/right.mp4
similarity index 100%
rename from egoSample/demo09/video/right.mp4
rename to egoSample/ego-legacy/demo09/video/right.mp4
diff --git a/egoSample/demo09/viewer.html b/egoSample/ego-legacy/demo09/viewer.html
similarity index 99%
rename from egoSample/demo09/viewer.html
rename to egoSample/ego-legacy/demo09/viewer.html
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 <header><div><a href="../index.html" style="color:#6f92c8;text-decoration:none;font-size:13px">&larr; all episodes</a><h1 style="margin-top:4px">Arranging Fruits on Retail Shelf</h1><div class="sub"><code>binocular-retail-ego</code> &middot; demo09 &middot; RETAIL-SHELF &middot; 55.00s</div></div><a class="x" href="../../index.html" title="all datasets">&times;</a></header>
 
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 <header><div><a href="../index.html" style="color:#6f92c8;text-decoration:none;font-size:13px">&larr; all episodes</a><h1 style="margin-top:4px">Trimming Threads From Garment</h1><div class="sub"><code>binocular-mfg-ego</code> &middot; demo10 &middot; MFG-SEW &middot; 22.50s</div></div><a class="x" href="../../index.html" title="all datasets">&times;</a></header>
 
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--- /dev/null
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diff --git a/egoSample/index.html b/egoSample/index.html
index b8daec5d0d6e7602f74bcb614c755ba8a4658e19..b87b21cee5d135db45e40a433e8d7a1163cc7b83 100644
--- a/egoSample/index.html
+++ b/egoSample/index.html
@@ -1,27 +1,85 @@
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-@media(max-width:900px){.grid{grid-template-columns:repeat(2,1fr)}}@media(max-width:600px){.grid{grid-template-columns:1fr}}
+<!doctype html><html lang="en"><head><meta charset="utf-8">
+<meta name="viewport" content="width=device-width,initial-scale=1">
+<title>Ego Sample</title>
+<style>
+:root{color-scheme:dark}*{box-sizing:border-box}html,body{margin:0;height:100%}
+body{background:#07090d;color:#e6e8ee;font:14px/1.5 -apple-system,"Helvetica Neue",Arial,"PingFang SC",sans-serif}
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 </style></head><body>
-<header><a class="back" href="../index.html">&larr; all datasets</a><h1>Ego Sample</h1>
-<div class="sub">6 episodes &middot; PICO first-person ego &middot; stereo fisheye + depth + 3D hand/head pose</div></header>
-<div class="grid"><a class="card" href="demo02/viewer.html"><div class="ph"><img src="demo02/thumb.jpg" alt="demo02"><span class="pi"></span></div><div class="m"><div class="t">demo02 &middot; Organizing Refrigerator Items</div><div class="r"><span class="chip">HOME-ORGANIZE</span><span>41.7s</span></div></div></a>
-<a class="card" href="demo05/viewer.html"><div class="ph"><img src="demo05/thumb.jpg" alt="demo05"><span class="pi"></span></div><div class="m"><div class="t">demo05 &middot; Organizing Fan Power Cord</div><div class="r"><span class="chip">STORAGE-BOX</span><span>72.5s</span></div></div></a>
-<a class="card" href="demo07/viewer.html"><div class="ph"><img src="demo07/thumb.jpg" alt="demo07"><span class="pi"></span></div><div class="m"><div class="t">demo07 &middot; Dicing Watermelon For Storage</div><div class="r"><span class="chip">CHOP-CUT</span><span>373.0s</span></div></div></a>
-<a class="card" href="demo08/viewer.html"><div class="ph"><img src="demo08/thumb.jpg" alt="demo08"><span class="pi"></span></div><div class="m"><div class="t">demo08 &middot; Wiping Office Desk Surface</div><div class="r"><span class="chip">OFFICE-CLEAN</span><span>85.8s</span></div></div></a>
-<a class="card" href="demo09/viewer.html"><div class="ph"><img src="demo09/thumb.jpg" alt="demo09"><span class="pi"></span></div><div class="m"><div class="t">demo09 &middot; Arranging Fruits on Retail Shelf</div><div class="r"><span class="chip">RETAIL-SHELF</span><span>55.0s</span></div></div></a>
-<a class="card" href="demo10/viewer.html"><div class="ph"><img src="demo10/thumb.jpg" alt="demo10"><span class="pi"></span></div><div class="m"><div class="t">demo10 &middot; Trimming Threads From Garment</div><div class="r"><span class="chip">MFG-SEW</span><span>22.5s</span></div></div></a></div></body></html>
\ No newline at end of file
+<div class="wrap">
+  <nav class="side">
+    <div class="st">Ego Sample &mdash; 11 tasks</div>
+    <div id="nav"></div>
+  </nav>
+  <div class="main">
+    <div class="bar" id="bar"><span class="empty">select a task on the left</span></div>
+    <iframe id="stage" allow="autoplay" src="about:blank"></iframe>
+  </div>
+</div>
+<script id="D" type="application/json">[["Retail & Fresh Food", [["Fruit retail & cutting", {"kind": "mego", "src": "mego.html#task_15634_ep003", "slug": "task_15634_ep003", "dur": 30.97, "rig": "MEgo 5-cam", "instr": "Place the pears from the table into the plate and arrange them neatly"}], ["Fruit cutting station", {"kind": "mego", "src": "mego.html#task_15365_ep000", "slug": "task_15365_ep000", "dur": 38.98, "rig": "MEgo 5-cam", "instr": "Sort yellow fruits and pack them into plastic boxes"}], ["Arranging fruits on retail shelf", {"kind": "ego", "src": "ego-legacy/demo09/viewer.html", "dur": 55.0, "rig": "PICO stereo", "instr": ""}], ["Dicing watermelon for storage", {"kind": "ego", "src": "ego-legacy/demo07/viewer.html", "dur": 373.0, "rig": "PICO stereo", "instr": ""}]]], ["Office & Documents", [["Document scanning & archiving", {"kind": "mego", "src": "mego.html#task_15638_ep001", "slug": "task_15638_ep001", "dur": 37.98, "rig": "MEgo 5-cam", "instr": "Organize the documents on the table"}], ["Document printing & binding", {"kind": "mego", "src": "mego.html#task_15659_ep004", "slug": "task_15659_ep004", "dur": 38.98, "rig": "MEgo 5-cam", "instr": "Organize and bind the documents on the table."}], ["Wiping office desk surface", {"kind": "ego", "src": "ego-legacy/demo08/viewer.html", "dur": 85.8, "rig": "PICO stereo", "instr": ""}]]], ["Assembly & Manufacturing", [["Mouse & keyboard assembly", {"kind": "mego", "src": "mego.html#task_15648_ep002", "slug": "task_15648_ep002", "dur": 39.98, "rig": "MEgo 5-cam", "instr": "Place the white keycap on the keyboard and press it"}], ["Trimming threads from garment", {"kind": "ego", "src": "ego-legacy/demo10/viewer.html", "dur": 22.5, "rig": "PICO stereo", "instr": ""}]]], ["Home & Organizing", [["Organizing refrigerator items", {"kind": "ego", "src": "ego-legacy/demo02/viewer.html", "dur": 41.7, "rig": "PICO stereo", "instr": ""}], ["Organizing fan power cord", {"kind": "ego", "src": "ego-legacy/demo05/viewer.html", "dur": 72.5, "rig": "PICO stereo", "instr": ""}]]]]</script>
+<script>
+const TREE = JSON.parse(document.getElementById('D').textContent);
+const esc = s => (s||'').replace(/[&<>"]/g,c=>({'&':'&amp;','<':'&lt;','>':'&gt;','"':'&quot;'}[c]));
+const fmtDur = d => d==null ? '' : (d>=60 ? (d/60).toFixed(1)+' min' : d.toFixed(1)+' s');
+
+function build(){
+  const box = document.getElementById('nav');
+  TREE.forEach(([cat, leaves], ci)=>{
+    const c = document.createElement('div'); c.className = 'cat' + (ci===0?' open':'');
+    c.innerHTML = `<div class="ch"><span class="ct">${esc(cat)}</span><span class="cc">${leaves.length}</span></div><div class="cbody"></div>`;
+    c.querySelector('.ch').onclick = ()=>c.classList.toggle('open');
+    const body = c.querySelector('.cbody');
+    leaves.forEach(([lbl, m])=>{
+      const el = document.createElement('div'); el.className = 'leaf';
+      el.innerHTML = `<div class="lt">${esc(lbl)}</div>
+        <div class="lm"><span class="rig">${m.rig}</span>${fmtDur(m.dur)}${m.instr?' · '+esc(m.instr):''}</div>`;
+      el.onclick = ()=>open(m, lbl, el);
+      body.appendChild(el);
+    });
+    box.appendChild(c);
+  });
+}
+
+function open(m, lbl, el){
+  document.querySelectorAll('.leaf.on').forEach(x=>x.classList.remove('on'));
+  el.classList.add('on');
+  const stage = document.getElementById('stage'), bar = document.getElementById('bar');
+  if(m.kind === 'ego'){
+    stage.src = m.src;
+    bar.innerHTML = `<span class="title"><b>${esc(lbl)}</b> &middot; legacy PICO stereo ego &middot; ${fmtDur(m.dur)}</span>`;
+  } else {
+    const onMego = (stage.src||'').indexOf('mego.html') >= 0;
+    let done = false;
+    try{ if(onMego && stage.contentWindow){ stage.contentWindow.location.hash = m.slug; done = true; } }catch(e){}
+    if(!done) stage.src = m.src;
+    bar.innerHTML = `<span class="title"><b>${esc(lbl)}</b> &middot; MEgo 5-cam${m.instr?' &middot; '+esc(m.instr):''}</span>`;
+  }
+}
+
+build();
+const first = document.querySelector('.cat.open .leaf');
+if(first) first.click();
+</script>
+</body></html>
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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retail and cutting", "instruction": "Remove the pears from the plate and arrange them on the table surface", "duration": 30.97, "nframes": 1859, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 24, "skills": {"Place": 8, "Pick": 8, "Tear": 3, "HandOver": 3, "Straighten": 2}, "skill_list": ["HandOver", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 0.9952, "hand_state/right": 0.9952, "head_camera/valid": 0.9952, "head_state/valid": 0.9952, "left_end/valid": 0.9952, "left_hand/valid": 0.9952, "right_end/valid": 0.9952, "right_hand/valid": 0.9952}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Both hands work together to place the two pears on the plate", "ts": 0.07, "te": 1.18, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of a box of pears", "ts": 1.18, "te": 3.28, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of a box of pears", "ts": 3.28, "te": 4.8, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the film", "ts": 4.8, "te": 12.73, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear", "ts": 12.73, "te": 13.98, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 13.98, "te": 15.05, "mistake": false}, {"skill": "Tear", "label": "Left hand tears off the film", "ts": 15.05, "te": 15.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear", "ts": 15.92, "te": 16.67, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 16.67, "te": 17.15, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 17.15, "te": 17.72, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the pear to the right hand", "ts": 17.72, "te": 18.63, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 18.63, "te": 18.98, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 18.98, "te": 19.6, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the pear to the right hand", "ts": 19.6, "te": 20.37, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 20.37, "te": 21.68, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 21.68, "te": 22.23, "mistake": false}, {"skill": "Place", "label": "Left hand places the pear on the table", "ts": 22.23, "te": 23.52, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 23.52, "te": 23.97, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the pear to the right hand", "ts": 23.97, "te": 24.68, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 24.68, "te": 25.62, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear", "ts": 25.62, "te": 26.75, "mistake": false}, {"skill": "Place", "label": "Left hand places the pear on the table", "ts": 26.75, "te": 27.92, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plate", "ts": 27.92, "te": 29.3, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the film", "ts": 29.3, "te": 30.82, "mistake": false}]}, {"slug": "task_15634_ep003", "kind": "wild", "task": "task_15634", "ep": 3, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Place the pears from the table into the plate and arrange them neatly", "duration": 30.97, "nframes": 1859, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", 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{"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 4.73, "te": 7.08, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear from a box of pears", "ts": 7.08, "te": 7.93, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear from a box of pears", "ts": 7.93, "te": 9.98, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 9.98, "te": 12.13, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear from a box of pears", "ts": 12.13, "te": 12.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear from a box of pears", "ts": 12.87, "te": 14.92, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 14.92, "te": 16.47, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plate", "ts": 16.47, "te": 17.12, "mistake": false}, {"skill": "Takedown", "label": "Right hand removes the film", "ts": 17.12, "te": 17.97, "mistake": false}, {"skill": "Place", "label": "Left hand places the plate on the table", "ts": 17.97, "te": 18.25, "mistake": false}, {"skill": "Knead", "label": "Both hands work together to knead the film", "ts": 18.25, "te": 19.62, "mistake": false}, {"skill": "Place", "label": "Left hand places the film on the table", "ts": 19.62, "te": 20.17, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear on the table", "ts": 20.17, "te": 20.78, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 20.78, "te": 21.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the two pears into the plate", "ts": 21.42, "te": 23.33, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 23.33, "te": 23.87, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the pear to the left hand", "ts": 23.87, "te": 24.4, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the two pears into the plate", "ts": 24.4, "te": 26.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 26.08, "te": 26.68, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pear into the plate", "ts": 26.68, "te": 27.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 27.4, "te": 28.2, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the pear to the left hand", "ts": 28.2, "te": 28.48, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pear into the plate", "ts": 28.48, "te": 29.28, "mistake": false}, {"skill": "Pick", "label": "Pick up two green apples from the table", "ts": 29.28, "te": 30.0, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear on the table", "ts": 30.0, "te": 30.17, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear on the table", "ts": 30.17, "te": 30.92, "mistake": false}]}, {"slug": "task_15634_ep004", "kind": "wild", "task": "task_15634", "ep": 4, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Pack the yellow fruits on the blue mat into the plastic box.", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 24, "skills": {"Pick": 13, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.9892, "hand_state/right": 0.9892, "head_camera/valid": 0.9892, "head_state/valid": 0.9892, "left_end/valid": 0.9892, "left_hand/valid": 0.9892, "right_end/valid": 0.9892, "right_hand/valid": 0.9892}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Right hand places the yellow fruit into the plastic box", "ts": 0.57, "te": 2.12, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow fruit on the table surface", "ts": 2.12, "te": 2.65, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 2.65, "te": 3.25, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit into the plastic box", "ts": 3.25, "te": 4.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow fruit on the table surface", "ts": 4.42, "te": 5.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 5.27, "te": 6.17, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit into the plastic box", "ts": 6.17, "te": 7.83, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the yellow fruit from the blue mat", "ts": 7.83, "te": 9.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit on the table surface", "ts": 9.45, "te": 10.55, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a yellow fruit on the table surface", "ts": 10.55, "te": 11.22, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the yellow fruit into the plastic box", "ts": 11.22, "te": 13.47, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the yellow fruit from the blue mat", "ts": 13.47, "te": 16.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 16.65, "te": 18.25, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 18.25, "te": 18.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 18.65, "te": 19.72, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the yellow fruit from the blue mat", "ts": 19.72, "te": 23.77, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the yellow fruit into the plastic box", "ts": 23.77, "te": 26.03, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 26.03, "te": 30.07, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 30.07, "te": 31.05, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow fruit in the box", "ts": 31.05, "te": 31.82, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the yellow fruit from the blue mat", "ts": 31.82, "te": 32.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the yellow fruit from the left hand", "ts": 32.4, "te": 33.63, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the yellow fruit into the plastic box", "ts": 33.63, "te": 36.5, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the yellow fruit from the blue mat", "ts": 36.5, "te": 38.17, "mistake": false}]}, {"slug": "task_15634_ep005", "kind": "wild", "task": "task_15634", "ep": 5, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Sort and pack the dates into the plastic box", "duration": 34.97, "nframes": 2099, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 17, "skills": {"Place": 6, "Pick": 5, "HandOver": 4, "Wipe": 1, "Straighten": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten", "Wipe"], "valids": {"hand_state/left": 0.9971, "hand_state/right": 0.9971, "head_camera/valid": 0.9971, "head_state/valid": 0.9971, "left_end/valid": 0.9971, "left_hand/valid": 0.9971, "right_end/valid": 0.9971, "right_hand/valid": 0.9971}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a date from the transparent box on the left side of the table while right hand picks up a date from the transparent box on the left side of the table", "ts": 0.0, "te": 1.62, "mistake": false}, {"skill": "Wipe", "label": "Both hands work together to wipe the dates clean", "ts": 1.62, "te": 3.4, "mistake": false}, {"skill": "Place", "label": "Right hand places the date into the transparent box on the right side", "ts": 3.4, "te": 5.62, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a date from the transparent box on the left side of the table while right hand picks up a date from the transparent box on the left side of the table", "ts": 5.62, "te": 7.03, "mistake": false}, {"skill": "Place", "label": "Right hand places the date on the table surface", "ts": 7.03, "te": 11.87, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the date to the right hand", "ts": 11.87, "te": 12.23, "mistake": false}, {"skill": "Place", "label": "Right hand places the date on the table surface", "ts": 12.23, "te": 12.63, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up two dates from the transparent box on the left side of the table while right hand picks up a date from the transparent box on the left side of the table", "ts": 12.63, "te": 13.77, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the date to the right hand", "ts": 13.77, "te": 14.6, "mistake": false}, {"skill": "Place", "label": "Right hand places the date into the transparent box on the right side while left hand places the date into the transparent box on the right side", "ts": 14.6, "te": 18.65, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up two dates from the transparent box on the left side of the table while right hand picks up a date from the transparent box on the left side of the table", "ts": 18.65, "te": 20.53, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the date to the right hand", "ts": 20.53, "te": 23.62, "mistake": false}, {"skill": "Place", "label": "Right hand places the date into the transparent box on the right side while left hand places the date into the transparent box on the right side", "ts": 23.62, "te": 27.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a date from the transparent box on the left side of the table", "ts": 27.42, "te": 28.2, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the date to the right hand", "ts": 28.2, "te": 29.6, "mistake": false}, {"skill": "Place", "label": "Right hand places the date into the transparent box on the right side", "ts": 29.6, "te": 30.28, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to arrange the dates in the transparent box on the right side neatly", "ts": 30.28, "te": 34.3, "mistake": false}]}, {"slug": "task_15634_ep006", "kind": "wild", "task": "task_15634", "ep": 6, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Remove the pears from the plate and then reload them", "duration": 36.98, "nframes": 2220, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 28, "skills": {"Pick": 12, "Place": 11, "Tear": 2, "HandOver": 1, "Knead": 1, "Straighten": 1}, "skill_list": ["HandOver", "Knead", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 0.9973, "hand_state/right": 0.9973, "head_camera/valid": 0.9973, "head_state/valid": 0.9973, "left_end/valid": 0.9973, "left_hand/valid": 0.9973, "right_end/valid": 0.9973, "right_hand/valid": 0.9973}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Tear", "label": "Left hand tears off the film", "ts": 0.07, "te": 1.77, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the two pears in the plate", "ts": 1.77, "te": 3.15, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears on the table", "ts": 3.15, "te": 6.23, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear from the plate", "ts": 6.23, "te": 7.83, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear from the plate", "ts": 7.83, "te": 9.22, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears on the table", "ts": 9.22, "te": 10.85, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the two pears in the plate", "ts": 10.85, "te": 12.62, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears on the table", "ts": 12.62, "te": 14.82, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the two pears in the plate", "ts": 14.82, "te": 17.65, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears on the table", "ts": 17.65, "te": 18.43, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plate on the table", "ts": 18.43, "te": 19.75, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the film on the plate", "ts": 19.75, "te": 21.33, "mistake": false}, {"skill": "Place", "label": "Left hand places the plate on the table", "ts": 21.33, "te": 21.88, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the film to the left hand", "ts": 21.88, "te": 22.2, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the film on the table", "ts": 22.2, "te": 22.65, "mistake": false}, {"skill": "Knead", "label": "Both hands work together to knead the film", "ts": 22.65, "te": 23.5, "mistake": false}, {"skill": "Place", "label": "Right hand places the film on the table", "ts": 23.5, "te": 24.32, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the pear on the table", "ts": 24.32, "te": 24.92, "mistake": false}, {"skill": "Place", "label": "Left hand places the pear into the plate", "ts": 24.92, "te": 25.12, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the pear on the table", "ts": 25.12, "te": 25.35, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear into the plate", "ts": 25.35, "te": 26.23, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the two pears on the table", "ts": 26.23, "te": 27.38, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears into the plate", "ts": 27.38, "te": 28.97, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the positions of the two pears", "ts": 28.97, "te": 31.5, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the two pears on the table", "ts": 31.5, "te": 32.7, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears into the plate", "ts": 32.7, "te": 34.98, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the two pears on the table", "ts": 34.98, "te": 35.83, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the pears into the plate", "ts": 35.83, "te": 36.95, "mistake": false}]}, {"slug": "task_15634_ep007", "kind": "wild", "task": "task_15634", "ep": 7, "short": "Fruit retail & cutting", "task_name": "Fruit retail and cutting", "instruction": "Neatly arrange the dark cherries from the white tray into the gold tray.", "duration": 38.97, "nframes": 2339, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES02AA126062500135", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 27, "skills": {"HandOver": 8, "Place": 8, "Pick": 7, "Straighten": 4}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9765, "hand_state/right": 0.9855, "head_camera/valid": 0.997, "head_state/valid": 0.997, "left_end/valid": 0.9765, "left_hand/valid": 0.9765, "right_end/valid": 0.9855, "right_hand/valid": 0.9855}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a dark cherry from the white tray", "ts": 0.4, "te": 1.2, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the dark cherry to the left hand", "ts": 1.2, "te": 3.05, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a dark cherry from the white tray", "ts": 3.05, "te": 3.92, "mistake": false}, {"skill": "Straighten", "label": "Left hand assists the right hand in adjusting the grip on the dark cherry", "ts": 3.92, "te": 5.4, "mistake": false}, {"skill": "Place", "label": "Right hand places the dark cherry into the gold tray", "ts": 5.4, "te": 6.65, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the dark cherry to the right hand", "ts": 6.65, "te": 7.75, "mistake": false}, {"skill": "Place", "label": "Right hand places the dark cherry into the gold tray", "ts": 7.75, "te": 9.97, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a dark cherry from the white tray", "ts": 9.97, "te": 10.82, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the dark cherry to the left hand", "ts": 10.82, "te": 11.03, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a dark cherry from the white tray", "ts": 11.03, "te": 11.38, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the dark cherry to the left hand", "ts": 11.38, "te": 11.67, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a dark cherry from the white tray", "ts": 11.67, "te": 12.0, "mistake": false}, {"skill": "Straighten", "label": "Left hand assists the right hand in adjusting the grip on the dark cherry", "ts": 12.0, "te": 12.97, "mistake": false}, {"skill": "Place", "label": "Right hand places the dark cherry into the gold tray", "ts": 12.97, "te": 13.9, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the dark cherry to the right hand", "ts": 13.9, "te": 14.93, "mistake": false}, {"skill": "Place", "label": "Right hand places the dark cherry into the gold tray", "ts": 14.93, "te": 16.02, "mistake": false}, {"skill": "Place", "label": "Both hands arrange the dark cherries in the gold tray.", "ts": 16.02, "te": 23.33, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the dark cherry to the right hand", "ts": 23.33, "te": 24.95, "mistake": false}, {"skill": "Place", "label": "Right hand places the dark cherry into the gold tray", "ts": 24.95, "te": 26.9, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a dark cherry from the white tray", "ts": 26.9, "te": 27.25, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the dark cherry to the left hand", "ts": 27.25, "te": 27.42, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a dark cherry from the white tray", "ts": 27.42, "te": 27.83, "mistake": false}, {"skill": "Straighten", "label": "Left hand assists the right hand in adjusting the grip on the dark cherry", "ts": 27.83, "te": 29.12, "mistake": false}, {"skill": "Place", "label": "Right hand places the dark cherry into the gold tray", "ts": 29.12, "te": 30.05, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the dark cherry to the right hand", "ts": 30.05, "te": 31.78, "mistake": false}, {"skill": "Place", "label": "Right hand places the dark cherry 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"left_hand/valid": 0.995, "right_end/valid": 0.995, "right_hand/valid": 0.995}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Both hands work together to adjust the position of a box of pears", "ts": 0.07, "te": 1.97, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of a box of pears", "ts": 1.97, "te": 3.63, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of a box of pears", "ts": 3.63, "te": 5.55, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the film", "ts": 5.55, "te": 12.0, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a pear from a box of pears", "ts": 12.0, "te": 12.6, "mistake": false}, {"skill": "Place", "label": "Right hand places the pear on the table", "ts": 12.6, "te": 13.33, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a 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{"skill": "Place", "label": "Both hands work together to place the two pears on the table", "ts": 25.45, "te": 26.5, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the plate", "ts": 26.5, "te": 27.28, "mistake": false}, {"skill": "Tear", "label": "Right hand tears off the film", "ts": 27.28, "te": 28.33, "mistake": false}, {"skill": "Place", "label": "Left hand places the plate on the table", "ts": 28.33, "te": 28.98, "mistake": false}, {"skill": "Knead", "label": "Both hands work together to knead the film", "ts": 28.98, "te": 30.98, "mistake": false}, {"skill": "Place", "label": "Right hand places the film on the table", "ts": 30.98, "te": 32.38, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a pear on the table while right hand picks up a pear on the table", "ts": 32.38, "te": 36.1, "mistake": false}]}, {"slug": "task_15638_ep000", "kind": "wild", "task": "task_15638", "ep": 0, "short": "Document archiving", "task_name": "Document scanning and 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document from the stack of documents below the table", "ts": 11.28, "te": 12.7, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 12.7, "te": 13.8, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 13.8, "te": 15.95, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 15.95, "te": 17.13, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 17.13, "te": 19.02, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 19.02, "te": 19.87, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 19.87, "te": 21.57, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 21.57, "te": 22.98, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 22.98, "te": 24.77, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 24.77, "te": 26.58, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 26.58, "te": 28.08, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 28.08, "te": 29.17, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 29.17, "te": 30.57, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 30.57, "te": 31.67, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents below the table", "ts": 31.67, "te": 33.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the document on the stack of documents on the right side of the table", "ts": 33.07, "te": 34.17, "mistake": false}]}, {"slug": "task_15638_ep001", "kind": "wild", "task": "task_15638", "ep": 1, "short": "Document archiving", "task_name": "Document scanning and archiving", "instruction": "Organize the documents on the table", "duration": 37.98, "nframes": 2280, "fps": 30, "usability": 1.0, "overall": 5.0, 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hands work together to stack the document on the pile of documents on the right side of the table", "ts": 2.5, "te": 3.33, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 3.33, "te": 4.82, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 4.82, "te": 5.72, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 5.72, "te": 6.87, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 6.87, "te": 7.83, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 7.83, "te": 9.35, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 9.35, "te": 10.05, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 10.05, "te": 11.03, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 11.03, "te": 11.85, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 11.85, "te": 12.83, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 12.83, "te": 13.57, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 13.57, "te": 14.58, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 14.58, "te": 15.4, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 15.4, "te": 16.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 16.6, "te": 17.45, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 17.45, "te": 18.67, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 18.67, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 19.48, "te": 21.02, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 21.02, "te": 22.03, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 22.03, "te": 23.68, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 23.68, "te": 24.43, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 24.43, "te": 25.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 25.6, "te": 26.6, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 26.6, "te": 28.6, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 28.6, "te": 29.73, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 29.73, "te": 30.87, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 30.87, "te": 31.6, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 31.6, "te": 33.53, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document on the pile of documents on the right side of the table", "ts": 33.53, "te": 34.42, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 34.42, "te": 35.87, "mistake": false}, {"skill": "Straighten", "label": "The right hand organizes and aligns the stack of documents on the right.", "ts": 35.87, "te": 36.93, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the stack of documents on the right side of the table", "ts": 36.93, "te": 37.82, "mistake": false}]}, {"slug": "task_15638_ep002", "kind": "wild", "task": "task_15638", "ep": 2, "short": "Document archiving", "task_name": "Document scanning and archiving", "instruction": "Organize the documents on the table", "duration": 36.98, "nframes": 2220, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": 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the left side of the table", "ts": 1.85, "te": 3.52, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 3.52, "te": 4.38, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 4.38, "te": 6.33, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 6.33, "te": 7.28, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a document from the stack of documents on the left side of the table", "ts": 7.28, "te": 8.95, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack the document onto the pile of documents on the right side of the table", "ts": 8.95, "te": 9.72, "mistake": false}, {"skill": "Pick", "label": "Both 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"mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 23.78, "te": 24.18, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 24.18, "te": 25.05, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 25.05, "te": 25.75, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 25.75, "te": 26.38, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 26.38, "te": 26.72, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 26.72, "te": 27.05, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 27.05, "te": 27.38, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keyboard tray", "ts": 27.38, "te": 27.93, "mistake": false}, {"skill": "Stack", "label": "Left hand stacks the keyboard tray onto the keyboard trays on the left", "ts": 27.93, "te": 28.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 28.42, "te": 29.2, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the white keycap on the table", "ts": 29.2, "te": 30.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 30.27, "te": 30.97, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard tray", "ts": 30.97, "te": 31.62, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 31.62, "te": 32.33, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 32.33, "te": 32.82, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 32.82, "te": 33.13, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the keyboard tray", "ts": 33.13, "te": 33.97, "mistake": false}, {"skill": "Straighten", "label": "Left hand assists the right hand in arranging the white keycap", "ts": 33.97, "te": 34.52, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard tray", "ts": 34.52, "te": 34.95, "mistake": false}]}, {"slug": "task_15648_ep001", "kind": "wild", "task": "task_15648", "ep": 1, "short": "Mouse & keyboard assembly", "task_name": "Assembly of complete mouse and keyboard units", "instruction": "Place the keycap on the keyboard and press it", "duration": 36.97, "nframes": 2219, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800037", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 60, "skills": {"Pick": 21, "Place": 19, "Press": 17, "HandOver": 2, "Flip": 1}, "skill_list": ["Flip", "HandOver", "Pick", "Place", "Press"], "valids": {"hand_state/left": 0.9968, "hand_state/right": 0.9968, "head_camera/valid": 0.9968, "head_state/valid": 0.9968, "left_end/valid": 0.9968, "left_hand/valid": 0.9968, "right_end/valid": 0.9968, "right_hand/valid": 0.9968}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Press", "label": "Both hands work together to press the keycap downward", "ts": 0.0, "te": 1.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the table", "ts": 1.3, "te": 2.0, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 2.0, "te": 2.93, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 2.93, "te": 3.27, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 3.27, "te": 3.82, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a keycap from the keyboard", "ts": 3.82, "te": 4.28, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 4.28, "te": 4.53, "mistake": false}, {"skill": "Press", "label": "Right hand presses the keycap downward", "ts": 4.53, "te": 4.88, "mistake": false}, {"skill": "Place", "label": "Left hand places the keycap on the keyboard", "ts": 4.88, "te": 5.32, "mistake": false}, {"skill": "Press", "label": "Left hand presses the keycap downward", "ts": 5.32, "te": 5.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a keycap from the table", "ts": 5.77, "te": 6.68, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the keycap to the right hand", "ts": 6.68, "te": 7.2, "mistake": false}, {"skill": "Place", "label": "Right hand places the keycap on the keyboard", "ts": 7.2, "te": 7.7, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the 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"Right hand picks up a white keycap from the table", "ts": 2.82, "te": 3.33, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard", "ts": 3.33, "te": 4.28, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 4.28, "te": 4.8, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard", "ts": 4.8, "te": 5.38, "mistake": false}, {"skill": "Press", "label": "Both hands work together to press the white keycap", "ts": 5.38, "te": 6.17, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 6.17, "te": 7.52, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 7.52, "te": 8.38, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard", "ts": 8.38, "te": 9.02, "mistake": false}, {"skill": "Press", "label": "Left hand presses the 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"ts": 13.7, "te": 14.52, "mistake": false}, {"skill": "Flip", "label": "Right hand flips a tool on the keyboard", "ts": 14.52, "te": 15.75, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 15.75, "te": 16.3, "mistake": false}, {"skill": "Place", "label": "Left hand places the white keycap on the keyboard", "ts": 16.3, "te": 16.8, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 16.8, "te": 17.08, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard", "ts": 17.08, "te": 17.35, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 17.35, "te": 17.9, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 17.9, "te": 18.55, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 18.55, "te": 19.2, "mistake": 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"label": "Left hand places the white keycap on the keyboard", "ts": 24.52, "te": 24.77, "mistake": false}, {"skill": "Press", "label": "Left hand presses the white keycap", "ts": 24.77, "te": 25.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 25.48, "te": 26.42, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard", "ts": 26.42, "te": 27.03, "mistake": false}, {"skill": "Press", "label": "Right hand presses the white keycap", "ts": 27.03, "te": 27.6, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a tool from the keyboard", "ts": 27.6, "te": 27.9, "mistake": false}, {"skill": "Stack", "label": "Left hand stacks the tool onto the tools on the left", "ts": 27.9, "te": 28.52, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white keycap from the table", "ts": 28.52, "te": 29.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a 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"te": 38.98, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white keycap from the table", "ts": 38.98, "te": 39.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the white keycap on the keyboard", "ts": 39.45, "te": 40.0, "mistake": false}]}, {"slug": "task_15648_ep003", "kind": "wild", "task": "task_15648", "ep": 3, "short": "Mouse & keyboard assembly", "task_name": "Assembly of complete mouse and keyboard units", "instruction": "Place the white keycap on the keyboard tray and press it", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800037", "qc": {"status": "pass", "total": 41, "passed": 41, "warnings": 0, "failures": 0}, "has_vis": false, "n_segments": 63, "skills": {"Place": 20, "Press": 20, "Pick": 20, "Stack": 2, "Flip": 1}, "skill_list": ["Flip", "Pick", "Place", "Press", "Stack"], "valids": {"hand_state/left": 0.9975, 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0}, "has_vis": false, "n_segments": 7, "skills": {"Insert": 2, "Straighten": 2, "PressButton": 2, "Pick": 1}, "skill_list": ["Insert", "Pick", "PressButton", "Straighten"], "valids": {"hand_state/left": 0.9976, "hand_state/right": 0.9976, "head_camera/valid": 0.9976, "head_state/valid": 0.9976, "left_end/valid": 0.9976, "left_hand/valid": 0.9976, "right_end/valid": 0.9976, "right_hand/valid": 0.9976}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 2.68, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 2.68, "te": 5.63, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 5.63, "te": 6.55, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 6.55, "te": 7.15, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 7.15, "te": 7.57, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 7.57, "te": 8.97, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 8.97, "te": 14.07, "mistake": false}]}, {"slug": "task_16207_ep003", "kind": "sim", "task": "task_16207", "ep": 3, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the toolbox", "duration": 22.87, "nframes": 1373, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Pick": 4, "Place": 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"Pick", "label": "The left hand picks up the hammer on the table", "ts": 11.15, "te": 12.48, "mistake": false}, {"skill": "Place", "label": "Right hand puts the hammer into the toolbox", "ts": 12.48, "te": 14.77, "mistake": false}, {"skill": "Press", "label": "Both hands cooperate to press down on the hammer", "ts": 14.77, "te": 16.62, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the utility knife on the table", "ts": 16.62, "te": 18.07, "mistake": false}, {"skill": "Place", "label": "Left hand puts the utility knife into the toolbox", "ts": 18.07, "te": 20.72, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the toolbox", "ts": 20.72, "te": 22.87, "mistake": false}]}, {"slug": "task_16207_ep004", "kind": "sim", "task": "task_16207", "ep": 4, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the white glasses", "duration": 15.97, "nframes": 959, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Plug": 1, "Straighten": 1}, "skill_list": ["Pick", "Plug", "Straighten"], "valids": {"hand_state/left": 0.9687, "hand_state/right": 0.9677, "head_camera/valid": 0.9739, "head_state/valid": 0.9739, "left_end/valid": 0.9687, "left_hand/valid": 0.9687, "right_end/valid": 0.9677, "right_hand/valid": 0.9677}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.28, "mistake": false}, {"skill": "Plug", "label": "Both hands work together to insert the charging cable into the white glasses", "ts": 1.28, "te": 5.0, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the white glasses on the table", "ts": 5.0, "te": 8.0, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to tidy up the white glasses", "ts": 8.0, "te": 15.98, "mistake": false}]}, {"slug": "task_16207_ep005", "kind": "sim", "task": "task_16207", "ep": 5, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Hang clothes", "duration": 21.43, "nframes": 1287, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Hang": 1, "Place": 1}, "skill_list": ["Hang", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.8733, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.8733, "left_hand/valid": 0.8733, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a piece of clothing from the bed", "ts": 0.0, "te": 1.52, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 1.52, "te": 9.37, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the clothes hanger from the rack", "ts": 9.37, "te": 11.23, "mistake": false}, {"skill": "Hang", "label": "Both hands cooperate to hang the clothes on the clothes hanger", "ts": 11.23, "te": 16.32, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 16.32, "te": 19.25, "mistake": false}, {"skill": "Place", "label": "The right hand places the clothes hanger on the rack", "ts": 19.25, "te": 21.43, "mistake": false}]}, {"slug": "task_16207_ep006", "kind": "sim", "task": "task_16207", "ep": 6, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water", "duration": 10.87, "nframes": 653, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Pour": 1, "Place": 1}, "skill_list": ["Place", "Pour"], "valids": {"hand_state/left": 0.9372, "hand_state/right": 0.9372, "head_camera/valid": 0.9372, "head_state/valid": 0.9372, "left_end/valid": 0.9372, "left_hand/valid": 0.9372, "right_end/valid": 0.9372, "right_hand/valid": 0.9372}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pour", "label": "The right arm pours water from the kettle into the cup", "ts": 0.0, "te": 9.13, "mistake": false}, {"skill": "Place", "label": "The right hand places the kettle on the table", "ts": 9.13, "te": 10.87, "mistake": false}]}, {"slug": "task_16207_ep007", "kind": "sim", "task": "task_16207", "ep": 7, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the pants", "duration": 24.83, "nframes": 1491, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 16, "skills": {"Pick": 4, "Place": 4, "Fold": 4, "Straighten": 4}, "skill_list": ["Fold", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands cooperate to pick up the pink pants on the sofa", "ts": 0.0, "te": 2.4, "mistake": false}, {"skill": "Place", "label": "Both hands 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sofa", "ts": 13.77, "te": 15.42, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the purple pants on the sofa", "ts": 15.42, "te": 16.85, "mistake": false}, {"skill": "Fold", "label": "Both hands cooperate to fold the purple pants to the right", "ts": 16.85, "te": 19.17, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to adjust the position of the purple pants", "ts": 19.17, "te": 20.33, "mistake": false}, {"skill": "Fold", "label": "Both hands cooperate to fold the purple pants upward", "ts": 20.33, "te": 21.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to tidy up the purple pants", "ts": 21.4, "te": 22.1, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the folded purple pants on the sofa", "ts": 22.1, "te": 23.32, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to stack the folded purple pants on top of the folded pink pants", "ts": 23.32, "te": 24.83, "mistake": false}]}, {"slug": "task_16207_ep008", "kind": "sim", "task": "task_16207", "ep": 8, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water", "duration": 13.15, "nframes": 790, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Pour": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 0.9962, "hand_state/right": 0.9962, "head_camera/valid": 0.9962, "head_state/valid": 0.9962, "left_end/valid": 0.9962, "left_hand/valid": 0.9962, "right_end/valid": 0.9962, "right_hand/valid": 0.9962}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up the kettle on the table", "ts": 0.0, "te": 1.83, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the water from the kettle into the cup", "ts": 1.83, "te": 9.92, "mistake": false}, {"skill": "Place", "label": "The left hand places the kettle on the table", "ts": 9.92, "te": 13.17, "mistake": false}]}, {"slug": "task_16207_ep009", "kind": "sim", "task": "task_16207", "ep": 9, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Throw the paper cup into the trash can", "duration": 8.18, "nframes": 492, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Drop": 2}, "skill_list": ["Drop", "Pick"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 0.0, "te": 2.3, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 2.3, "te": 4.07, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 4.07, "te": 6.28, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 6.28, "te": 8.18, "mistake": false}]}, {"slug": "task_16207_ep010", "kind": "sim", "task": "task_16207", "ep": 10, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 30.7, "nframes": 1843, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Pick": 5, "Place": 3, "Straighten": 2, "Scan": 2, "Open": 1}, "skill_list": ["Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 0.9908, "hand_state/right": 0.9908, "head_camera/valid": 0.9908, "head_state/valid": 0.9908, "left_end/valid": 0.9908, "left_hand/valid": 0.9908, "right_end/valid": 0.9908, "right_hand/valid": 0.9908}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.4, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.4, "te": 5.6, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 5.6, "te": 10.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 10.25, "te": 11.75, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 11.75, "te": 14.7, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 14.7, "te": 16.12, "mistake": false}, {"skill": "Scan", "label": "Both hands cooperate to scan the product code", "ts": 16.12, "te": 20.65, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 20.65, "te": 21.72, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 21.72, "te": 23.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 23.98, "te": 25.35, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 25.35, "te": 26.85, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 26.85, "te": 28.27, "mistake": false}, {"skill": "Scan", "label": "Both hands cooperate to scan the product code", "ts": 28.27, "te": 30.7, "mistake": false}]}, {"slug": "task_16207_ep011", "kind": "sim", "task": "task_16207", "ep": 11, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 38.02, "nframes": 2282, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 12, "Place": 12, "Close": 1, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 0.0, "te": 2.87, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 2.87, "te": 4.7, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 4.7, "te": 5.65, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 5.65, "te": 6.77, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 6.77, "te": 7.92, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 7.92, "te": 8.95, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 8.95, "te": 9.9, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 9.9, "te": 10.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 10.98, "te": 12.57, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 12.57, "te": 14.05, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 14.05, "te": 15.4, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 15.4, "te": 16.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 16.67, "te": 18.25, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 18.25, "te": 19.58, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 19.58, "te": 20.82, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 20.82, "te": 22.12, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 22.12, "te": 24.38, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 24.38, "te": 25.43, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 25.43, "te": 26.77, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 26.77, "te": 27.75, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 27.75, "te": 29.22, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 29.22, "te": 30.22, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 30.22, "te": 31.58, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 31.58, "te": 32.6, "mistake": false}, {"skill": "Close", "label": "Both hands cooperate to close the tool box", "ts": 32.6, "te": 36.05, "mistake": false}, {"skill": "Straighten", "label": "Both hands cooperate to tidy up the tool box", "ts": 36.05, "te": 38.02, "mistake": false}]}, {"slug": "task_16207_ep012", "kind": "sim", "task": "task_16207", "ep": 12, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the folder into the file rack", "duration": 7.2, "nframes": 433, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 2, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a blue folder on the table", "ts": 0.0, "te": 2.25, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue folder into the file rack", "ts": 2.25, "te": 5.07, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue folder on the table", "ts": 5.07, "te": 7.2, "mistake": false}]}, {"slug": "task_16207_ep013", "kind": "sim", "task": "task_16207", "ep": 13, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the products", "duration": 43.76, "nframes": 2626, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 8, "Place": 8, "Straighten": 5, "Scan": 3, "HandOver": 1, "Open": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9996, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9996, "right_hand/valid": 0.9996}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a plastic bag from the table", "ts": 0.0, "te": 1.8, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a plastic bag to the left hand", "ts": 1.8, "te": 2.58, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a plastic bag on the table", "ts": 2.58, "te": 3.4, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 3.4, "te": 8.35, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.35, "te": 9.8, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 9.8, "te": 10.48, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 10.48, "te": 11.62, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 11.62, "te": 14.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 14.18, "te": 15.0, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 15.0, "te": 16.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 16.67, "te": 18.1, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 18.1, "te": 20.12, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 20.12, "te": 21.23, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 21.23, "te": 23.3, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 23.3, "te": 24.7, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 24.7, "te": 25.68, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 25.68, "te": 27.3, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 27.3, "te": 28.88, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 28.88, "te": 31.0, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 31.0, "te": 32.3, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 32.3, "te": 36.1, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 36.1, "te": 37.23, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the product into the plastic bag", "ts": 37.23, "te": 39.2, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the packed plastic bag", "ts": 39.2, "te": 40.58, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 40.58, "te": 41.72, "mistake": false}, {"skill": "Place", "label": "The right hand places the packed plastic bag on the table", "ts": 41.72, "te": 43.75, "mistake": false}]}, {"slug": "task_16207_ep014", "kind": "sim", "task": "task_16207", "ep": 14, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 17.75, "nframes": 1066, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 10, "skills": {"Pick": 4, "Place": 4, "Close": 1, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Close", "label": "Right hand closes the notebook on the table", "ts": 0.0, "te": 3.22, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the notebook", "ts": 3.22, "te": 4.92, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green pen on the table", "ts": 4.92, "te": 5.9, "mistake": false}, {"skill": "Place", "label": "The right hand puts a green pen into the pen holder", "ts": 5.9, "te": 7.5, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red pen on the table", "ts": 7.5, "te": 9.5, "mistake": false}, {"skill": "Place", "label": "The right hand puts a red pen into the pen holder", "ts": 9.5, "te": 11.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 11.23, "te": 12.57, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 12.57, "te": 14.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the white crumpled paper on the table", "ts": 14.63, "te": 15.72, "mistake": false}, {"skill": "Place", "label": "The left hand throws the white crumpled paper into the trash can", "ts": 15.72, "te": 17.75, "mistake": false}]}, {"slug": "task_16207_ep015", "kind": "sim", "task": "task_16207", "ep": 15, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the milk tea into the packaging bag", "duration": 32.88, "nframes": 1974, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Place": 5, "Pick": 4, "HandOver": 1, "Open": 1, "Tear": 1, "Straighten": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 2.05, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the packaging bag to the right hand", "ts": 2.05, "te": 2.92, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the packaging bag", "ts": 2.92, "te": 7.12, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 7.12, "te": 8.23, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put the milk tea into the packaging bag", "ts": 8.23, "te": 13.47, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the packaging bag on the table", "ts": 13.47, "te": 14.15, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 14.15, "te": 15.97, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to put a thin tube into the packaging bag", "ts": 15.97, "te": 18.3, "mistake": false}, {"skill": "Tear", "label": "Both hands cooperate to tear off the sealing strip on the packaging bag", "ts": 18.3, "te": 21.5, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 21.5, "te": 23.27, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 23.27, "te": 25.82, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 25.82, "te": 29.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the packaging bag on the table", "ts": 29.37, "te": 30.72, "mistake": false}, {"skill": "Place", "label": "The left hand places the packaging bag on the table", "ts": 30.72, "te": 32.88, "mistake": false}]}, {"slug": "task_16207_ep016", "kind": "sim", "task": "task_16207", "ep": 16, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make shaved ice", "duration": 57.4, "nframes": 3444, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 8, "Place": 8, "Pour": 4, "Takeout (remove)": 2, "Rotate": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Takeout (remove)"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 1.97, "mistake": false}, {"skill": "Place", "label": "The right hand places the shaved ice machine lid on the table", "ts": 1.97, "te": 3.17, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic cup on the table", "ts": 3.17, "te": 4.0, "mistake": false}, {"skill": "Pour", "label": "The right hand pours the ice cubes from the plastic cup into the shaved ice machine", "ts": 4.0, "te": 6.03, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic cup on the table", "ts": 6.03, "te": 6.75, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the shaved ice machine lid on the table", "ts": 6.75, "te": 8.43, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 8.43, "te": 11.57, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 11.57, "te": 32.2, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic and box inside the shaved ice machine", "ts": 32.2, "te": 33.52, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the spoon on the table", "ts": 33.52, "te": 34.65, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use the spoon to pour the slush from the plastic box into the mug", "ts": 34.65, "te": 40.98, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon in the saucer", "ts": 40.98, "te": 41.45, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 41.45, "te": 43.3, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the small spoon from the topping box", "ts": 43.3, "te": 44.7, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 44.7, "te": 45.5, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the toppings from the spoon into the mug", "ts": 45.5, "te": 46.97, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 46.97, "te": 48.88, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the toppings from the spoon into the mug", "ts": 48.88, "te": 50.27, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon on the topping box", "ts": 50.27, "te": 51.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the transparent spoon inside the transparent cup", "ts": 51.67, "te": 53.0, "mistake": false}, {"skill": "Place", "label": "The left hand puts the transparent spoon into the mug", "ts": 53.0, "te": 54.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the mug", "ts": 54.28, "te": 54.87, "mistake": false}, {"skill": "Place", "label": "The left hand places the mug on the coaster", "ts": 54.87, "te": 57.38, "mistake": false}]}, {"slug": "task_16207_ep017", "kind": "sim", "task": "task_16207", "ep": 17, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 39.98, "nframes": 2400, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Rinse": 3, "Place": 3, "Pick": 3, "HandOver": 1, "Wipe": 1}, "skill_list": ["HandOver", "Pick", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.96, "hand_state/right": 0.9954, "head_camera/valid": 0.9954, "head_state/valid": 0.9954, "left_end/valid": 0.96, "left_hand/valid": 0.96, "right_end/valid": 0.9954, "right_hand/valid": 0.9954}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Rinse", "label": "Both hands work together to rinse a red cup under the faucet", "ts": 0.0, "te": 13.0, "mistake": false}, {"skill": "Place", "label": "The left hand places a red cup on the table", "ts": 13.0, "te": 14.0, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the yellow sponge on the table", "ts": 14.0, "te": 14.87, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the yellow sponge to the right hand", "ts": 14.87, "te": 15.53, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a dark-colored cup from the sink", "ts": 15.53, "te": 16.95, "mistake": false}, {"skill": "Wipe", "label": "Both hands coordinate to wipe a dark cup with a yellow sponge", "ts": 16.95, "te": 25.5, "mistake": false}, {"skill": "Place", "label": "The right hand places the yellow sponge on the table", "ts": 25.5, "te": 28.6, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a dark-colored cup under the faucet", "ts": 28.6, "te": 34.03, "mistake": false}, {"skill": "Place", "label": "The left hand places a dark-colored cup on the table", "ts": 34.03, "te": 35.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white cup from the sink", "ts": 35.25, "te": 37.0, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a white cup under the faucet", "ts": 37.0, "te": 40.0, "mistake": false}]}, {"slug": "task_16207_ep018", "kind": "sim", "task": "task_16207", "ep": 18, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 26.97, "nframes": 1619, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 18, "skills": {"Pick": 7, "Place": 7, "Straighten": 4}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.8172, "hand_state/right": 0.9901, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.8172, "left_hand/valid": 0.8172, "right_end/valid": 0.9901, "right_hand/valid": 0.9901}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 0.0, "te": 2.17, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 2.17, "te": 3.68, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 3.68, "te": 5.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 5.63, "te": 6.77, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the blue triangle", "ts": 6.77, "te": 8.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 8.58, "te": 9.4, "mistake": false}, {"skill": "Place", "label": "The right hand places a green square into the wooden frame", "ts": 9.4, "te": 10.33, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the green square", "ts": 10.33, "te": 11.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 11.23, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 13.02, "te": 14.8, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 14.8, "te": 16.33, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 16.33, "te": 17.72, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the orange parallelogram", "ts": 17.72, "te": 18.97, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 18.97, "te": 20.18, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 20.18, "te": 22.27, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the red triangle", "ts": 22.27, "te": 22.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 22.98, "te": 24.85, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 24.85, "te": 26.97, "mistake": false}]}, {"slug": "task_16207_ep019", "kind": "sim", "task": "task_16207", "ep": 19, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the robot", "duration": 9.9, "nframes": 595, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "plug": 1, "HandOver": 1, "Straighten": 1, "Plug": 1}, "skill_list": ["HandOver", "Pick", "Plug", "Straighten", "plug"], "valids": {"hand_state/left": 0.9782, "hand_state/right": 0.9782, "head_camera/valid": 0.9782, "head_state/valid": 0.9782, "left_end/valid": 0.9782, "left_hand/valid": 0.9782, "right_end/valid": 0.9782, "right_hand/valid": 0.9782}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the blue plug on the floor", "ts": 0.0, "te": 0.97, "mistake": false}, {"skill": "plug", "label": "Right hand inserts the blue plug into the base", "ts": 0.97, "te": 3.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black plug on the floor", "ts": 3.3, "te": 4.15, "mistake": false}, {"skill": "HandOver", "label": "Right hand hands over the black plug to the left hand", "ts": 4.15, "te": 4.65, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the wire", "ts": 4.65, "te": 5.57, "mistake": false}, {"skill": "Plug", "label": "Left hand inserts the black plug into the floor socket", "ts": 5.57, "te": 9.9, "mistake": false}]}, {"slug": "task_16207_ep020", "kind": "sim", "task": "task_16207", "ep": 20, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods from the shopping basket onto the shelf", "duration": 16.25, "nframes": 976, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 10, "skills": {"Pick": 3, "Straighten": 3, "Place": 3, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 0.0, "te": 2.23, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the item is held", "ts": 2.23, "te": 3.62, "mistake": false}, {"skill": "Place", "label": "The right hand places an item on the shelf", "ts": 3.62, "te": 5.42, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 5.42, "te": 7.58, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes an item to the left hand", "ts": 7.58, "te": 8.35, "mistake": false}, {"skill": "Place", "label": "The left hand places an item on the shelf", "ts": 8.35, "te": 9.57, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the item", "ts": 9.57, "te": 10.82, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an item from the shopping basket", "ts": 10.82, "te": 13.05, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the item is held", "ts": 13.05, "te": 14.28, "mistake": false}, {"skill": "Place", "label": "The right hand places an item on the shelf", "ts": 14.28, "te": 16.25, "mistake": false}]}, {"slug": "task_16207_ep021", "kind": "sim", "task": "task_16207", "ep": 21, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 13.75, "nframes": 826, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 2, "Insert": 1, "PressButton": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "PressButton"], "valids": {"hand_state/left": 0.9189, "hand_state/right": 0.9189, "head_camera/valid": 0.9189, "head_state/valid": 0.9189, "left_end/valid": 0.9189, "left_hand/valid": 0.9189, "right_end/valid": 0.9189, "right_hand/valid": 0.9189}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.3, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 1.3, "te": 3.62, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 3.62, "te": 4.67, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 4.67, "te": 12.1, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the VR glasses on the table", "ts": 12.1, "te": 13.77, "mistake": false}]}, {"slug": "task_16207_ep022", "kind": "sim", "task": "task_16207", "ep": 22, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 30.27, "nframes": 1817, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Place": 2, "Pick": 2, "Pour": 1, "HandOver": 1, "Rinse": 1, "Close": 1, "Wipe": 1}, "skill_list": ["Close", "HandOver", "Pick", "Place", "Pour", "Rinse", "Wipe"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pour", "label": "Both hands work together to pour the water from a transparent cup into the sink", "ts": 0.0, "te": 0.27, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a transparent cup to the right hand", "ts": 0.27, "te": 0.77, "mistake": false}, {"skill": "Place", "label": "The right hand places a transparent cup on the table", "ts": 0.77, "te": 2.13, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a dark-colored cup from the sink", "ts": 2.13, "te": 3.13, "mistake": false}, {"skill": "Rinse", "label": "Both hands coordinate to rinse a dark cup", "ts": 3.13, "te": 8.92, "mistake": false}, {"skill": "Close", "label": "The right hand turns off the faucet", "ts": 8.92, "te": 9.43, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the sponge on the table", "ts": 9.43, "te": 10.4, "mistake": false}, {"skill": "Place", "label": "The right hand places the sponge into a dark-colored cup", "ts": 10.4, "te": 11.43, "mistake": false}, {"skill": "Wipe", "label": "Both hands work together to wipe a dark-colored cup", "ts": 11.43, "te": 30.27, "mistake": false}]}, {"slug": "task_16207_ep023", "kind": "sim", "task": "task_16207", "ep": 23, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up folders", "duration": 5.52, "nframes": 332, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a blue folder on the table", "ts": 0.0, "te": 2.73, "mistake": false}, {"skill": "Place", "label": "Left hand puts a blue folder into the file rack", "ts": 2.73, "te": 5.52, "mistake": false}]}, {"slug": "task_16207_ep024", "kind": "sim", "task": "task_16207", "ep": 24, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Plug the charging cable into the glasses", "duration": 18.8, "nframes": 1129, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 1, "Insert": 1, "Rotate": 1, "Press": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "Press", "Rotate"], "valids": {"hand_state/left": 0.9911, "hand_state/right": 0.93, "head_camera/valid": 0.9911, "head_state/valid": 0.9911, "left_end/valid": 0.9911, "left_hand/valid": 0.9911, "right_end/valid": 0.93, "right_hand/valid": 0.93}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the white glasses on the table while right hand picks up the charging cable", "ts": 0.0, "te": 4.3, "mistake": false}, {"skill": "Insert", "label": "Dual arms coordinate to insert the charging cable into the white glasses", "ts": 4.3, "te": 7.0, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to the side", "ts": 7.0, "te": 8.85, "mistake": false}, {"skill": "Press", "label": "Both hands coordinate to press the button of the white glasses", "ts": 8.85, "te": 16.55, "mistake": false}, {"skill": "Place", "label": "Both hands place the white glasses on the table", "ts": 16.55, "te": 18.8, "mistake": false}]}, {"slug": "task_16207_ep025", "kind": "sim", "task": "task_16207", "ep": 25, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 33.78, "nframes": 2028, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 12, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 0.0, "te": 2.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 2.85, "te": 4.47, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 4.47, "te": 6.45, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 6.45, "te": 8.22, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 8.22, "te": 9.92, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 9.92, "te": 11.62, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 11.62, "te": 13.12, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 13.12, "te": 14.35, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 14.35, "te": 15.98, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 15.98, "te": 17.2, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 17.2, "te": 18.73, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 18.73, "te": 19.6, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 19.6, "te": 21.02, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 21.02, "te": 22.32, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 22.32, "te": 23.42, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 23.42, "te": 24.75, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 24.75, "te": 26.2, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 26.2, "te": 27.23, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 27.23, "te": 28.65, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 28.65, "te": 29.57, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 29.57, "te": 31.0, "mistake": false}, {"skill": "Place", "label": "The left hand places the screw into the tool box", "ts": 31.0, "te": 32.32, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a screw on the table surface", "ts": 32.32, "te": 33.78, "mistake": false}]}, {"slug": "task_16207_ep026", "kind": "sim", "task": "task_16207", "ep": 26, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store toys", "duration": 32.23, "nframes": 1935, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 11, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.6481, "hand_state/right": 0.5432, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.6481, "left_hand/valid": 0.6481, "right_end/valid": 0.5432, "right_hand/valid": 0.5432}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a yellow toy on the sofa", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "The right hand puts a yellow toy into the basket", "ts": 1.6, "te": 2.75, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue toy on the sofa", "ts": 2.75, "te": 3.87, "mistake": false}, {"skill": "Place", "label": "The right hand puts a blue toy into the basket", "ts": 3.87, "te": 4.85, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red toy on the sofa", "ts": 4.85, "te": 5.93, "mistake": false}, {"skill": "Place", "label": "The right hand puts a red toy into the basket", "ts": 5.93, "te": 6.68, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow toy on the sofa", "ts": 6.68, "te": 7.83, "mistake": false}, {"skill": "Place", "label": "The right hand puts a yellow toy into the basket", "ts": 7.83, "te": 8.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white toy on the sofa", "ts": 8.58, "te": 9.97, "mistake": false}, {"skill": "Place", "label": "The right hand puts a white toy into the basket", "ts": 9.97, "te": 11.18, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up an orange toy on the sofa", "ts": 11.18, "te": 12.78, "mistake": false}, {"skill": "Place", "label": "The left hand puts an orange toy into the basket", "ts": 12.78, "te": 13.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white toy on the sofa", "ts": 13.63, "te": 14.78, "mistake": false}, {"skill": "Place", "label": "The left hand puts a white toy into the basket", "ts": 14.78, "te": 15.67, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white toy on the sofa", "ts": 15.67, "te": 17.13, "mistake": false}, {"skill": "Place", "label": "The left hand puts a white toy into the basket", "ts": 17.13, "te": 19.03, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a yellow toy on the sofa", "ts": 19.03, "te": 20.18, "mistake": false}, {"skill": "Place", "label": "The left hand puts a yellow toy into the basket", "ts": 20.18, "te": 21.92, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a yellow toy on the sofa", "ts": 21.92, "te": 23.42, "mistake": false}, {"skill": "Place", "label": "The left hand puts a yellow toy into the basket", "ts": 23.42, "te": 25.1, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the basket on the sofa", "ts": 25.1, "te": 27.02, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the basket on the table", "ts": 27.02, "te": 32.23, "mistake": false}]}, {"slug": "task_16207_ep027", "kind": "sim", "task": "task_16207", "ep": 27, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 37.85, "nframes": 2272, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Pick": 4, "Place": 4, "Straighten": 2, "HandOver": 1, "Open": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9886, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9886, "right_hand/valid": 0.9886}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 2.35, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a packaging bag to the right hand", "ts": 2.35, "te": 3.4, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the packaging bag", "ts": 3.4, "te": 10.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a cup of milk tea on the table", "ts": 10.57, "te": 11.78, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put the milk tea into the packaging bag", "ts": 11.78, "te": 16.75, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 16.75, "te": 18.47, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a straw from the cup", "ts": 18.47, "te": 20.07, "mistake": false}, {"skill": "Place", "label": "The right hand puts a straw into the packaging bag", "ts": 20.07, "te": 22.32, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 22.32, "te": 29.5, "mistake": false}, {"skill": "Tear", "label": "Both hands coordinate to tear off the packaging strip on the packaging bag", "ts": 29.5, "te": 31.75, "mistake": false}, {"skill": "Place", "label": "Right hand places the packaging strip on the table", "ts": 31.75, "te": 32.63, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 32.63, "te": 35.22, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the packed packaging bag", "ts": 35.22, "te": 36.7, "mistake": false}, {"skill": "Place", "label": "The left hand places the packed packaging bag on the coaster", "ts": 36.7, "te": 37.85, "mistake": false}]}, {"slug": "task_16207_ep028", "kind": "sim", "task": "task_16207", "ep": 28, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 52.74, "nframes": 3164, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 20, "skills": {"Pick": 7, "Place": 6, "Scan": 4, "Straighten": 2, "Open": 1}, "skill_list": ["Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a plastic bag on the counter", "ts": 0.0, "te": 2.43, "mistake": false}, {"skill": "Place", "label": "Both arms cooperate to place the plastic bag on the counter", "ts": 2.43, "te": 4.23, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 4.23, "te": 12.18, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 12.18, "te": 13.85, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 13.85, "te": 19.67, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 19.67, "te": 20.72, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the 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the product code", "ts": 36.32, "te": 38.68, "mistake": false}, {"skill": "Place", "label": "The left hand puts a product into the plastic bag", "ts": 38.68, "te": 40.05, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 40.05, "te": 42.8, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 42.8, "te": 45.08, "mistake": false}, {"skill": "Place", "label": "The left hand puts an item into the plastic bag while the right hand places the barcode scanner on the table", "ts": 45.08, "te": 47.48, "mistake": false}, {"skill": "Pick", "label": "Both hands cooperate to pick up the plastic bag on the counter", "ts": 47.48, "te": 50.52, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to place the plastic bag on the counter", "ts": 50.52, "te": 52.72, "mistake": false}]}, {"slug": "task_16207_ep029", "kind": "sim", "task": "task_16207", "ep": 29, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the toolbox", "duration": 23.48, "nframes": 1410, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Pick": 4, "Place": 4, "Press": 3, "Close": 2}, "skill_list": ["Close", "Pick", "Place", "Press"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the screwdriver on the table", "ts": 0.0, "te": 1.97, "mistake": false}, {"skill": "Place", "label": "Right hand puts the screwdriver into the toolbox", "ts": 1.97, "te": 3.6, "mistake": false}, {"skill": "Press", "label": "Right hand presses the screwdriver in the toolbox", "ts": 3.6, "te": 5.03, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the tape on the table", "ts": 5.03, "te": 6.73, "mistake": false}, {"skill": "Place", "label": "Right hand puts the tape into the toolbox", "ts": 6.73, "te": 9.58, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the pliers on the table", "ts": 9.58, "te": 11.43, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pliers into the toolbox", "ts": 11.43, "te": 13.83, "mistake": false}, {"skill": "Press", "label": "Right hand presses the pliers in the toolbox", "ts": 13.83, "te": 15.1, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the test pen on the table", "ts": 15.1, "te": 16.83, "mistake": false}, {"skill": "Place", "label": "Left hand puts the test pen into the toolbox", "ts": 16.83, "te": 18.5, "mistake": false}, {"skill": "Press", "label": "Left hand presses the test pen in the toolbox", "ts": 18.5, "te": 19.67, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the box", "ts": 19.67, "te": 22.43, "mistake": false}, {"skill": "Close", "label": "Both hands close the box latch", "ts": 22.43, "te": 23.48, "mistake": false}]}, {"slug": "task_16207_ep030", "kind": "sim", "task": "task_16207", "ep": 30, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the mouse and keyboard", "duration": 5.17, "nframes": 311, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Straighten": 2, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.7942, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.7942, "left_hand/valid": 0.7942, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the keyboard on the desktop", "ts": 0.0, "te": 1.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the keyboard on the desktop", "ts": 1.17, "te": 2.47, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the mouse", "ts": 2.47, "te": 3.97, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the keyboard", "ts": 3.97, "te": 5.17, "mistake": false}]}, {"slug": "task_16207_ep031", "kind": "sim", "task": "task_16207", "ep": 31, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up snacks", "duration": 14.07, "nframes": 845, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 3, "Place": 3}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.9953, "hand_state/right": 0.9953, "head_camera/valid": 0.9953, "head_state/valid": 0.9953, "left_end/valid": 0.9953, "left_hand/valid": 0.9953, "right_end/valid": 0.9953, "right_hand/valid": 0.9953}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 0.0, "te": 2.1, "mistake": false}, {"skill": "Place", "label": "Right hand places a bag of snacks on the shelf", "ts": 2.1, "te": 4.18, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 4.18, "te": 5.83, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 5.83, "te": 8.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a bag of snacks on the shelf", "ts": 8.7, "te": 11.35, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 11.35, "te": 14.07, "mistake": false}]}, {"slug": "task_16207_ep032", "kind": "sim", "task": "task_16207", "ep": 32, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the kitchen", "duration": 13.8, "nframes": 829, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 3, "Place": 3}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 0.0, "te": 2.9, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 2.9, "te": 5.8, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 5.8, "te": 7.75, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 7.75, "te": 9.85, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a seasoning bottle on the table", "ts": 9.85, "te": 11.15, "mistake": false}, {"skill": "Place", "label": "Left hand places a seasoning bottle on the shelf", "ts": 11.15, "te": 13.8, "mistake": false}]}, {"slug": "task_16207_ep033", "kind": "sim", "task": "task_16207", "ep": 33, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the toolbox", "duration": 20.83, "nframes": 1251, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Place": 4, "Pick": 3, "Press": 2, "Close": 2, "Straighten": 1}, "skill_list": ["Close", "Pick", "Place", "Press", "Straighten"], "valids": {"hand_state/left": 0.9904, "hand_state/right": 0.9904, "head_camera/valid": 0.9904, "head_state/valid": 0.9904, "left_end/valid": 0.9904, "left_hand/valid": 0.9904, "right_end/valid": 0.9904, "right_hand/valid": 0.9904}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Right hand puts the hammer into the toolbox", "ts": 0.0, "te": 1.63, "mistake": false}, {"skill": "Press", "label": "Right hand presses the hammer in the toolbox", "ts": 1.63, "te": 2.52, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the pliers on the table", "ts": 2.52, "te": 4.5, "mistake": false}, {"skill": "Place", "label": "Right hand puts the pliers into the toolbox", "ts": 4.5, "te": 5.75, "mistake": false}, {"skill": "Press", "label": "Right hand presses the pliers in the toolbox", "ts": 5.75, "te": 7.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the tape measure on the table", "ts": 7.03, "te": 9.18, "mistake": false}, {"skill": "Place", "label": "Left hand puts the tape measure into the toolbox", "ts": 9.18, "te": 11.4, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the utility knife on the table", "ts": 11.4, "te": 12.75, "mistake": false}, {"skill": "Place", "label": "Left hand puts the utility knife into the toolbox", "ts": 12.75, "te": 15.05, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the toolbox", "ts": 15.05, "te": 17.38, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the toolbox latch", "ts": 17.38, "te": 19.03, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the toolbox", "ts": 19.03, "te": 20.83, "mistake": false}]}, {"slug": "task_16207_ep034", "kind": "sim", "task": "task_16207", "ep": 34, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods into the shopping basket", "duration": 8.45, "nframes": 508, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 2, "Place": 1}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of goods on the shelf", "ts": 0.0, "te": 3.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a bag of goods into the shopping basket", "ts": 3.63, "te": 5.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of goods on the shelf", "ts": 5.4, "te": 8.45, "mistake": false}]}, {"slug": "task_16207_ep035", "kind": "sim", "task": "task_16207", "ep": 35, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store toys", "duration": 8.55, "nframes": 514, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 4, "Place": 4}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.8385, "hand_state/right": 0.9261, "head_camera/valid": 0.9689, "head_state/valid": 0.9689, "left_end/valid": 0.8385, "left_hand/valid": 0.8385, "right_end/valid": 0.9261, "right_hand/valid": 0.9261}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up an orange toy", "ts": 0.0, "te": 1.5, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts an orange toy into the toy basket", "ts": 1.5, "te": 2.13, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up an orange toy", "ts": 2.13, "te": 3.65, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts an orange toy into the toy basket", "ts": 3.65, "te": 4.1, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow toy, right hand picks up a purple toy", "ts": 4.1, "te": 5.48, "mistake": false}, {"skill": "Place", "label": "Left hand puts a yellow toy into the toy basket, right hand puts a purple toy into the toy basket", "ts": 5.48, "te": 6.47, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the toy basket", "ts": 6.47, "te": 7.15, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the toy basket on the table", "ts": 7.15, "te": 8.55, "mistake": false}]}, {"slug": "task_16207_ep036", "kind": "sim", "task": "task_16207", "ep": 36, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 47.5, "nframes": 2850, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 8, "Straighten": 3, "Scan": 3}, "skill_list": ["Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9993, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9993, "right_hand/valid": 0.9993}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 0.0, "te": 4.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 4.17, "te": 6.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 6.85, "te": 10.23, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 10.23, "te": 12.4, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 12.4, "te": 14.72, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 14.72, "te": 15.73, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 15.73, "te": 18.0, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 18.0, "te": 19.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 19.17, "te": 21.23, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 21.23, "te": 23.2, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 23.2, "te": 25.02, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 25.02, "te": 27.63, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 27.63, "te": 28.65, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 28.65, "te": 29.87, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 29.87, "te": 31.53, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 31.53, "te": 33.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 33.25, "te": 34.77, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 34.77, "te": 37.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 37.75, "te": 39.07, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a product into the plastic bag", "ts": 39.07, "te": 40.98, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag", "ts": 40.98, "te": 44.87, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 44.87, "te": 47.48, "mistake": false}]}, {"slug": "task_16207_ep037", "kind": "sim", "task": "task_16207", "ep": 37, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 11.92, "nframes": 716, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Drop": 2, "Close": 1, "Straighten": 1, "Place": 1}, "skill_list": ["Close", "Drop", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Close", "label": "Right hand closes the notebook on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the notebook", "ts": 2.6, "te": 4.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 4.23, "te": 5.42, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 5.42, "te": 7.28, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 7.28, "te": 8.4, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 8.4, "te": 9.33, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 9.33, "te": 10.02, "mistake": false}, {"skill": "Drop", "label": "The left hand throws a white crumpled paper ball into the trash can", "ts": 10.02, "te": 10.73, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 10.73, "te": 11.92, "mistake": false}]}, {"slug": "task_16207_ep038", "kind": "sim", "task": "task_16207", "ep": 38, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the shelf", "duration": 21.73, "nframes": 1305, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Place": 3, "Straighten": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bag of snacks on the shelf", "ts": 0.0, "te": 1.92, "mistake": false}, {"skill": "Straighten", "label": "The left hand assists the right hand in adjusting the way the snack is held", "ts": 1.92, "te": 3.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a bag of snacks on the shelf", "ts": 3.37, "te": 5.55, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of snacks from the shelf", "ts": 5.55, "te": 8.15, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 8.15, "te": 10.95, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a bag of snacks from the shelf", "ts": 10.95, "te": 14.28, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 14.28, "te": 16.77, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a bag of snacks on the shelf", "ts": 16.77, "te": 18.97, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting the way the snack is held", "ts": 18.97, "te": 21.73, "mistake": false}]}, {"slug": "task_16207_ep039", "kind": "sim", "task": "task_16207", "ep": 39, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 26.95, "nframes": 1618, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 19, "skills": {"Pick": 7, "Place": 7, "Straighten": 4, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.6916, "hand_state/right": 0.9981, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.6916, "left_hand/valid": 0.6916, "right_end/valid": 0.9981, "right_hand/valid": 0.9981}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 0.0, "te": 1.23, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 1.23, "te": 2.55, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 2.55, "te": 3.85, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 3.85, "te": 5.07, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the yellow triangle", "ts": 5.07, "te": 8.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 8.22, "te": 9.65, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 9.65, "te": 10.97, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the orange parallelogram", "ts": 10.97, "te": 12.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a brown triangle on the table", "ts": 12.25, "te": 13.67, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes a brown triangle to the right hand", "ts": 13.67, "te": 14.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 14.6, "te": 15.82, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the wooden frame", "ts": 15.82, "te": 16.6, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 16.6, "te": 17.4, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 17.4, "te": 19.33, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green square on the table", "ts": 19.33, "te": 20.7, "mistake": false}, {"skill": "Place", "label": "Left hand puts a green square into the wooden frame", "ts": 20.7, "te": 22.22, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue triangle on the table", "ts": 22.22, "te": 23.75, "mistake": false}, {"skill": "Place", "label": "Both hands cooperate to put a blue triangle into the wooden frame", "ts": 23.75, "te": 25.2, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the wooden frame", "ts": 25.2, "te": 26.95, "mistake": false}]}, {"slug": "task_16207_ep040", "kind": "sim", "task": "task_16207", "ep": 40, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 15.33, "nframes": 920, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Place": 5, "Pick": 4}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 0.9978, "hand_state/right": 0.9978, "head_camera/valid": 0.9978, "head_state/valid": 0.9978, "left_end/valid": 0.9978, "left_hand/valid": 0.9978, "right_end/valid": 0.9978, "right_hand/valid": 0.9978}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Right hand puts a red pen into the pen holder", "ts": 0.0, "te": 1.38, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green pen on the table", "ts": 1.38, "te": 4.13, "mistake": false}, {"skill": "Place", "label": "Right hand puts a green pen into the pen holder", "ts": 4.13, "te": 5.83, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green pen on the table", "ts": 5.83, "te": 7.42, "mistake": false}, {"skill": "Place", "label": "Right hand puts a green pen into the pen holder", "ts": 7.42, "te": 9.0, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 9.0, "te": 10.18, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 10.18, "te": 11.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the white trash on the table", "ts": 11.37, "te": 13.43, "mistake": false}, {"skill": "Place", "label": "Left hand puts the white trash into the trash can", "ts": 13.43, "te": 15.32, "mistake": false}]}, {"slug": "task_16207_ep041", "kind": "sim", "task": "task_16207", "ep": 41, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Wash the cup", "duration": 30.97, "nframes": 1859, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Wipe": 1, "Place": 1, "Open": 1, "Rinse": 1}, "skill_list": ["Open", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.957, "hand_state/right": 0.9978, "head_camera/valid": 0.9978, "head_state/valid": 0.9978, "left_end/valid": 0.957, "left_hand/valid": 0.957, "right_end/valid": 0.9978, "right_hand/valid": 0.9978}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Wipe", "label": "Both hands coordinate to wipe a dark cup with a yellow sponge", "ts": 0.0, "te": 7.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow sponge on the table", "ts": 7.0, "te": 8.5, "mistake": false}, {"skill": "Open", "label": "Left hand turns on the faucet", "ts": 8.5, "te": 9.55, "mistake": false}, {"skill": "Rinse", "label": "Both hands coordinate to rinse a dark cup", "ts": 9.55, "te": 30.98, "mistake": false}]}, {"slug": "task_16207_ep042", "kind": "sim", "task": "task_16207", "ep": 42, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Throw the paper cup into the trash can", "duration": 11.8, "nframes": 709, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 3, "Drop": 2}, "skill_list": ["Drop", "Pick"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right arm picks up a paper cup on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Drop", "label": "Right arm throws a paper cup into the trash can", "ts": 2.6, "te": 5.25, "mistake": false}, {"skill": "Pick", "label": "Right arm picks up a paper cup on the table", "ts": 5.25, "te": 7.47, "mistake": false}, {"skill": "Drop", "label": "Right arm throws a paper cup into the trash can", "ts": 7.47, "te": 10.02, "mistake": false}, {"skill": "Pick", "label": "Right arm picks up a paper cup on the table", "ts": 10.02, "te": 11.8, "mistake": false}]}, {"slug": "task_16207_ep043", "kind": "sim", "task": "task_16207", "ep": 43, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 9.45, "nframes": 568, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Drop": 2, "Close": 1, "Straighten": 1}, "skill_list": ["Close", "Drop", "Pick", "Straighten"], "valids": {"hand_state/left": 0.9982, "hand_state/right": 0.9982, "head_camera/valid": 0.9982, "head_state/valid": 0.9982, "left_end/valid": 0.9982, "left_hand/valid": 0.9982, "right_end/valid": 0.9982, "right_hand/valid": 0.9982}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 0.0, "te": 1.02, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 1.02, "te": 1.97, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 1.97, "te": 3.1, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 3.1, "te": 5.65, "mistake": false}, {"skill": "Close", "label": "Right hand closes the notebook on the table", "ts": 5.65, "te": 8.52, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the notebook", "ts": 8.52, "te": 9.45, "mistake": false}]}, {"slug": "task_16207_ep044", "kind": "sim", "task": "task_16207", "ep": 44, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store tableware", "duration": 21.05, "nframes": 1264, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Pick": 6, "Place": 5, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a cup on the table", "ts": 0.0, "te": 2.23, "mistake": false}, {"skill": "Place", "label": "Right hand places a cup on the table", "ts": 2.23, "te": 4.23, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a cup lid on the table", "ts": 4.23, "te": 5.93, "mistake": false}, {"skill": "Place", "label": "Right hand places a cup lid on a cup", "ts": 5.93, "te": 7.85, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 7.85, "te": 9.92, "mistake": false}, {"skill": "Place", "label": "Right hand places a bowl on the table", "ts": 9.92, "te": 11.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 11.27, "te": 12.62, "mistake": false}, {"skill": "Stack", "label": "Right hand stacks a bowl on another bowl", "ts": 12.62, "te": 14.17, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a plate on the table", "ts": 14.17, "te": 15.82, "mistake": false}, {"skill": "Place", "label": "Right hand places a plate on the table", "ts": 15.82, "te": 17.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a plate on the table", "ts": 17.03, "te": 19.68, "mistake": false}, {"skill": "Place", "label": "Left hand places a plate on the table", "ts": 19.68, "te": 21.05, "mistake": false}]}, {"slug": "task_16207_ep045", "kind": "sim", "task": "task_16207", "ep": 45, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the items on the table", "duration": 15.27, "nframes": 917, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 10, "skills": {"Pick": 4, "Drop": 3, "HandOver": 2, "Place": 1}, "skill_list": ["Drop", "HandOver", "Pick", "Place"], "valids": {"hand_state/left": 0.9956, "hand_state/right": 0.9956, "head_camera/valid": 0.9956, "head_state/valid": 0.9956, "left_end/valid": 0.9956, "left_hand/valid": 0.9956, "right_end/valid": 0.9956, "right_hand/valid": 0.9956}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 0.0, "te": 0.42, "mistake": false}, {"skill": "Place", "label": "The right hand places the stapler on the table", "ts": 0.42, "te": 2.03, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a sheet of paper from the table", "ts": 2.03, "te": 4.83, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a sheet of paper to the left hand", "ts": 4.83, "te": 6.13, "mistake": false}, {"skill": "Drop", "label": "The left hand throws a sheet of paper into the trash can", "ts": 6.13, "te": 7.55, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a sheet of paper from the table", "ts": 7.55, "te": 8.57, "mistake": false}, {"skill": "Drop", "label": "The left hand throws a sheet of paper into the trash can", "ts": 8.57, "te": 9.88, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a sheet of paper from the table", "ts": 9.88, "te": 12.07, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a sheet of paper to the left hand", "ts": 12.07, "te": 12.88, "mistake": false}, {"skill": "Drop", "label": "The left hand throws a sheet of paper into the trash can", "ts": 12.88, "te": 15.27, "mistake": false}]}, {"slug": "task_16207_ep046", "kind": "sim", "task": "task_16207", "ep": 46, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Hang clothes", "duration": 16.57, "nframes": 995, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 2, "Straighten": 2, "Hang": 1}, "skill_list": ["Hang", "Pick", "Straighten"], "valids": {"hand_state/left": 0.9528, "hand_state/right": 0.8613, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9528, "left_hand/valid": 0.9528, "right_end/valid": 0.8613, "right_hand/valid": 0.8613}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a black piece of clothing from the bed", "ts": 0.0, "te": 1.3, "mistake": 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"ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Insert": 1, "Straighten": 1}, "skill_list": ["Insert", "Pick", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.13, "mistake": false}, {"skill": "Insert", "label": "Both hands work together to insert the charging cable into the white glasses", "ts": 1.13, "te": 4.67, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the white glasses", "ts": 4.67, "te": 9.65, "mistake": false}]}, {"slug": "task_16207_ep049", "kind": "sim", "task": 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33.33, "te": 34.7, "mistake": false}, {"skill": "CloseBox", "label": "Both hands cooperate to close the tool box", "ts": 34.7, "te": 37.18, "mistake": false}, {"skill": "Press", "label": "Both hands cooperate to press down on the tool box", "ts": 37.18, "te": 39.47, "mistake": false}]}, {"slug": "task_16207_ep050", "kind": "sim", "task": "task_16207", "ep": 50, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 17.63, "nframes": 1059, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 1, "Insert": 1, "Press": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "Press"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the charging cable", "ts": 0.0, "te": 2.67, "mistake": false}, {"skill": "Insert", "label": "Both hands work together to insert the charging cable into the VR glasses", "ts": 2.67, "te": 5.57, "mistake": false}, {"skill": "Press", "label": "The left hand presses the switch on the VR glasses", "ts": 5.57, "te": 15.57, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the VR glasses on the desktop", "ts": 15.57, "te": 17.63, "mistake": false}]}, {"slug": "task_16207_ep051", "kind": "sim", "task": "task_16207", "ep": 51, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 13.07, "nframes": 785, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Pick": 4, "Place": 4, "Straighten": 3}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9771, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9771, "left_hand/valid": 0.9771, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a black piece of clothing from the basket", "ts": 0.0, "te": 1.87, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a black piece of clothing into the washing machine", "ts": 1.87, "te": 3.1, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up a white piece of clothing 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{"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 13.2, "te": 15.17, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 15.17, "te": 16.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap on the table", "ts": 16.45, "te": 17.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 17.85, "te": 29.23, "mistake": false}]}, {"slug": "task_16207_ep056", "kind": "sim", "task": "task_16207", "ep": 56, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up bedding", "duration": 13.5, "nframes": 811, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Straighten": 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pillow on the bed", "ts": 11.37, "te": 12.4, "mistake": false}, {"skill": "Stack", "label": "Both hands work together to stack one pillow on top of another pillow", "ts": 12.4, "te": 13.52, "mistake": false}]}, {"slug": "task_16207_ep057", "kind": "sim", "task": "task_16207", "ep": 57, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the folder into the file rack", "duration": 12.52, "nframes": 752, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 2, "Place": 2, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a blue folder on the table", "ts": 0.0, "te": 3.28, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue folder into the file rack", "ts": 3.28, "te": 6.18, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue folder on the table", "ts": 6.18, "te": 8.4, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over a blue folder to the right hand", "ts": 8.4, "te": 9.82, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue folder into the file rack", "ts": 9.82, "te": 12.52, "mistake": false}]}, {"slug": "task_16207_ep058", "kind": "sim", "task": "task_16207", "ep": 58, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the scattered toys into the cardboard box and the iron box", "duration": 29.72, "nframes": 1784, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 28, "skills": {"Pick": 14, "Place": 13, "Straighten": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.6598, "hand_state/right": 0.9983, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.6598, "left_hand/valid": 0.6598, "right_end/valid": 0.9983, "right_hand/valid": 0.9983}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a pink toy from the floor", "ts": 0.0, "te": 1.8, "mistake": false}, {"skill": "Place", "label": "The right hand puts a pink toy into the cardboard box", "ts": 1.8, "te": 4.88, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a colored alphabet card from the floor", "ts": 4.88, "te": 7.33, "mistake": false}, {"skill": "Place", "label": "The right hand puts a colored alphabet card into the cardboard box", "ts": 7.33, "te": 9.12, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the cardboard box", "ts": 9.12, "te": 10.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up an iron box from the floor", "ts": 10.25, "te": 11.82, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a small white stick-like object from the floor", "ts": 11.82, "te": 13.68, "mistake": false}, {"skill": "Place", "label": "The right hand puts a small white stick-like object into the iron box held by the left hand", "ts": 13.68, "te": 14.13, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a small black stick-like object from the floor", "ts": 14.13, "te": 14.62, "mistake": false}, {"skill": "Place", "label": "The right hand puts a small black stick-like object into the iron box held by the left 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the faucet", "ts": 8.5, "te": 9.1, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse the transparent glass cup", "ts": 9.1, "te": 22.5, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow sponge", "ts": 22.5, "te": 24.3, "mistake": false}, {"skill": "Wipe", "label": "The right hand wipes the transparent glass cup", "ts": 24.3, "te": 30.97, "mistake": false}]}, {"slug": "task_16207_ep060", "kind": "sim", "task": "task_16207", "ep": 60, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR headset", "duration": 17.65, "nframes": 1060, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 1, "plug": 1, "PressButton": 1, "Straighten": 1}, "skill_list": ["Pick", "PressButton", "Straighten", "plug"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.62, "mistake": false}, {"skill": "plug", "label": "Both hands work together to plug the charging cable into the VR headset", "ts": 1.62, "te": 4.42, "mistake": false}, {"skill": "PressButton", "label": "Both hands work together to press the button on the VR headset", "ts": 4.42, "te": 7.0, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the charging cable on the VR headset", "ts": 7.0, "te": 17.65, "mistake": false}]}, {"slug": "task_16207_ep061", "kind": "sim", "task": "task_16207", "ep": 61, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Straighten the chair", "duration": 8.18, "nframes": 492, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 2, "skills": {"Rotate": 1, "Straighten": 1}, "skill_list": ["Rotate", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Rotate", "label": "Dual arms coordinate to rotate the chair", "ts": 0.0, "te": 4.4, "mistake": false}, {"skill": "Straighten", "label": "Dual arms coordinate to adjust the position of the chair", "ts": 4.4, "te": 8.18, "mistake": false}]}, {"slug": "task_16207_ep062", "kind": "sim", "task": "task_16207", "ep": 62, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 15.35, "nframes": 922, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Pick": 2, "Insert": 1, "PressButton": 1, "Place": 1}, "skill_list": ["Insert", "Pick", "Place", "PressButton"], "valids": {"hand_state/left": 0.9967, "hand_state/right": 0.9967, "head_camera/valid": 0.9967, "head_state/valid": 0.9967, "left_end/valid": 0.9967, "left_hand/valid": 0.9967, "right_end/valid": 0.9967, "right_hand/valid": 0.9967}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 1.07, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 1.07, "te": 4.78, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 4.78, "te": 5.68, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 5.68, "te": 14.08, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the VR glasses on the table", "ts": 14.08, "te": 15.37, "mistake": false}]}, {"slug": "task_16207_ep063", "kind": "sim", "task": "task_16207", "ep": 63, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Hang clothes", "duration": 25.17, "nframes": 1511, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Hang": 2}, "skill_list": ["Hang", "Pick", "Straighten"], "valids": {"hand_state/left": 0.9603, "hand_state/right": 0.9252, "head_camera/valid": 0.9676, "head_state/valid": 0.9676, "left_end/valid": 0.9603, "left_hand/valid": 0.9603, "right_end/valid": 0.9252, "right_hand/valid": 0.9252}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a piece of clothing from the bed", "ts": 0.0, "te": 2.47, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the hanger on the clothes drying rod", "ts": 2.47, "te": 5.32, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a hanger from the clothes drying rod", "ts": 5.32, "te": 6.8, "mistake": false}, {"skill": "Hang", "label": "Both hands work together to hang the clothing on the hanger", "ts": 6.8, "te": 13.58, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothing on the hanger", "ts": 13.58, "te": 22.2, "mistake": false}, {"skill": "Hang", "label": "The right hand hangs the clothing on the clothes drying rod", "ts": 22.2, "te": 25.17, "mistake": false}]}, {"slug": "task_16207_ep064", "kind": "sim", "task": "task_16207", "ep": 64, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water", "duration": 22.43, "nframes": 1347, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pour": 2, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 2.45, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the glass on the table", "ts": 2.45, "te": 9.37, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the mug on the table", "ts": 9.37, "te": 18.45, "mistake": false}, {"skill": "Place", "label": "Right hand places the kettle on the table", "ts": 18.45, "te": 22.43, "mistake": false}]}, {"slug": "task_16207_ep065", "kind": "sim", "task": "task_16207", "ep": 65, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 23.25, "nframes": 1396, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 16, "skills": {"Pick": 6, "Place": 6, "Straighten": 3, "HandOver": 1}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.3646, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.3646, "left_hand/valid": 0.3646, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 0.0, "te": 1.43, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 1.43, "te": 3.42, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 3.42, "te": 4.45, "mistake": false}, {"skill": "Place", "label": "The right 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16.4, "te": 17.75, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 17.75, "te": 19.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up an orange parallelogram on the table", "ts": 19.03, "te": 19.75, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes an orange parallelogram to the right hand", "ts": 19.75, "te": 20.3, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 20.3, "te": 21.97, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the wooden frame", "ts": 21.97, "te": 23.25, "mistake": false}]}, {"slug": "task_16207_ep066", "kind": "sim", "task": "task_16207", "ep": 66, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 32.32, "nframes": 1940, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Straighten": 3, "Pick": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand adjusts the position of the black strap on the table", "ts": 0.0, "te": 2.78, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 2.78, "te": 14.17, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 14.17, "te": 14.73, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 14.73, "te": 16.58, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 16.58, "te": 28.15, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 28.15, "te": 28.82, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 28.82, "te": 32.32, "mistake": false}]}, {"slug": "task_16207_ep067", "kind": "sim", "task": "task_16207", "ep": 67, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 28.67, "nframes": 1721, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Straighten": 3, "Pick": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Left hand adjusts the position of the black strap on the table", "ts": 0.0, "te": 2.25, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 2.25, "te": 13.45, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 13.45, "te": 14.42, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 14.42, "te": 16.87, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 16.87, "te": 26.07, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 26.07, "te": 27.37, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 27.37, "te": 28.67, "mistake": false}]}, {"slug": "task_16207_ep068", "kind": "sim", "task": "task_16207", "ep": 68, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 6.17, "nframes": 371, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.8194, "hand_state/right": 0.8706, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.8194, "left_hand/valid": 0.8194, "right_end/valid": 0.8706, "right_hand/valid": 0.8706}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a black piece of clothing from the basket", "ts": 0.0, "te": 1.38, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the black clothing", "ts": 1.38, "te": 2.35, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a black piece of clothing into the washing machine", "ts": 2.35, "te": 2.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a green piece of clothing from the basket", "ts": 2.98, "te": 3.88, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the green clothing", "ts": 3.88, "te": 4.93, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a green piece of clothing into the washing machine", "ts": 4.93, "te": 6.17, "mistake": false}]}, {"slug": "task_16207_ep069", "kind": "sim", "task": "task_16207", "ep": 69, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up the desk", "duration": 13.37, "nframes": 803, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 4, "Drop": 3, "Place": 1}, "skill_list": ["Drop", "Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 0.0, "te": 1.77, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 1.77, "te": 3.3, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 3.3, "te": 4.57, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 4.57, "te": 6.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white paper ball on the table", "ts": 6.03, "te": 7.2, "mistake": false}, {"skill": "Drop", "label": "Left hand throws a white paper ball into the trash can", "ts": 7.2, "te": 9.27, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the stapler on the table", "ts": 9.27, "te": 11.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the stapler on the table", "ts": 11.0, "te": 13.37, "mistake": false}]}, {"slug": "task_16207_ep070", "kind": "sim", "task": "task_16207", "ep": 70, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Throw the paper cup into the trash can", "duration": 8.87, "nframes": 533, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Drop": 2}, "skill_list": ["Drop", "Pick"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 2.6, "te": 5.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a paper cup on the table", "ts": 5.3, "te": 7.47, "mistake": false}, {"skill": "Drop", "label": "Right hand throws a paper cup into the trash can", "ts": 7.47, "te": 8.87, "mistake": false}]}, {"slug": "task_16207_ep071", "kind": "sim", "task": "task_16207", "ep": 71, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the goods from the shopping basket onto the shelf", "duration": 27.02, "nframes": 1622, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Pick": 3, "Place": 3, "Straighten": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands coordinate to pick up a bag of snacks from the shopping basket", "ts": 0.0, "te": 2.3, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 2.3, "te": 7.0, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks from the shopping basket", "ts": 7.0, "te": 9.72, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 9.72, "te": 17.35, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the label", "ts": 17.35, "te": 18.35, "mistake": false}, {"skill": "Straighten", "label": "Left hand adjusts the position of a bag of snacks while right hand adjusts the position of the label", "ts": 18.35, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bag of snacks from the shopping basket", "ts": 19.48, "te": 21.4, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a bag of snacks on the shelf", "ts": 21.4, "te": 27.02, "mistake": false}]}, {"slug": "task_16207_ep072", "kind": "sim", "task": "task_16207", "ep": 72, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 27.1, "nframes": 1627, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 17, "skills": {"Pick": 7, "Place": 7, "Straighten": 3}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9226, "hand_state/right": 0.9779, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9226, "left_hand/valid": 0.9226, "right_end/valid": 0.9779, "right_hand/valid": 0.9779}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 1.6, "te": 4.27, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a blue triangle from the table", "ts": 4.27, "te": 5.63, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 5.63, "te": 7.1, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a green square from the table", "ts": 7.1, "te": 8.75, "mistake": false}, {"skill": "Place", "label": "The right hand places a green square into the wooden frame", "ts": 8.75, "te": 10.35, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a yellow triangle from the table", "ts": 10.35, "te": 11.45, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow triangle into the wooden frame", "ts": 11.45, "te": 12.87, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the green square", "ts": 12.87, "te": 14.23, "mistake": false}, {"skill": "Straighten", "label": "The left hand adjusts the position of the orange parallelogram", "ts": 14.23, "te": 15.65, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up an orange parallelogram from the table", "ts": 15.65, "te": 17.17, "mistake": false}, {"skill": "Place", "label": "The right hand places an orange parallelogram into the wooden frame", "ts": 17.17, "te": 20.05, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 20.05, "te": 21.6, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 21.6, "te": 22.42, "mistake": false}, {"skill": "Straighten", "label": "The right hand adjusts the position of the brown triangle", "ts": 22.42, "te": 24.3, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 24.3, "te": 25.82, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 25.82, "te": 27.1, "mistake": false}]}, {"slug": "task_16207_ep073", "kind": "sim", "task": "task_16207", "ep": 73, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the wrench into the tool box", "duration": 5.45, "nframes": 328, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Place": 1, "Press": 1}, "skill_list": ["Pick", "Place", "Press"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the wrench on the table", "ts": 0.0, "te": 2.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the wrench into the tool box", "ts": 2.18, "te": 3.62, "mistake": false}, {"skill": "Press", "label": "The right hand presses the wrench inside the tool box", "ts": 3.62, "te": 5.45, "mistake": false}]}, {"slug": "task_16207_ep074", "kind": "sim", "task": "task_16207", "ep": 74, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 46.63, "nframes": 2799, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 7, "Place": 7, "Straighten": 3, "Scan": 3, "Open": 1, "HandOver": 1}, "skill_list": ["HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the plastic bag on the table", "ts": 0.0, "te": 2.28, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.28, "te": 6.45, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 6.45, "te": 11.97, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 11.97, "te": 13.32, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 13.32, "te": 16.0, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 16.0, "te": 17.15, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 17.15, "te": 20.52, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 20.52, "te": 21.93, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the product to the right hand", "ts": 21.93, "te": 22.6, "mistake": false}, {"skill": "Place", "label": "The right hand places a product into the plastic bag", "ts": 22.6, "te": 24.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 24.28, "te": 25.57, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 25.57, "te": 26.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 26.98, "te": 28.33, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 28.33, "te": 31.22, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 31.22, "te": 32.17, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 32.17, "te": 33.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 33.98, "te": 35.33, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 35.33, "te": 37.35, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 37.35, "te": 38.77, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the scanner gun to scan the product code", "ts": 38.77, "te": 43.8, "mistake": false}, {"skill": "Place", "label": "The right hand places the scanner gun on the table", "ts": 43.8, "te": 45.15, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 45.15, "te": 46.63, "mistake": false}]}, {"slug": "task_16207_ep075", "kind": "sim", "task": "task_16207", "ep": 75, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up parts", "duration": 43.07, "nframes": 2584, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 30, "skills": {"Pick": 15, "Place": 14, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 0.0, "te": 1.95, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 1.95, "te": 3.43, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 3.43, "te": 4.78, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 4.78, "te": 6.2, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 6.2, "te": 7.62, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 7.62, "te": 8.77, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 8.77, "te": 10.52, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 10.52, "te": 11.6, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 11.6, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 13.02, "te": 14.07, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 14.07, "te": 15.25, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 15.25, "te": 16.38, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 16.38, "te": 18.63, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 18.63, "te": 19.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 19.92, "te": 21.6, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 21.6, "te": 23.48, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 23.48, "te": 25.2, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 25.2, "te": 25.92, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 25.92, "te": 27.53, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 27.53, "te": 28.95, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 28.95, "te": 30.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 30.37, "te": 32.93, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 32.93, "te": 34.28, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 34.28, "te": 35.7, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 35.7, "te": 36.72, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 36.72, "te": 38.07, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 38.07, "te": 39.95, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 39.95, "te": 41.22, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 41.22, "te": 42.12, "mistake": false}, {"skill": "Stack", "label": "The left hand stacks a green part on top of another green part", "ts": 42.12, "te": 43.05, "mistake": false}]}, {"slug": "task_16207_ep076", "kind": "sim", "task": "task_16207", "ep": 76, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the milk tea into the packaging bag", "duration": 32.68, "nframes": 1961, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 13, "skills": {"Place": 5, "Pick": 3, "HandOver": 1, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "HandOver", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9561, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9561, "right_hand/valid": 0.9561}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Place", "label": "Left hand picks up a packaging bag on the table", "ts": 0.0, "te": 1.75, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the packaging bag to the right hand", "ts": 1.75, "te": 2.82, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the packaging bag", "ts": 2.82, "te": 6.97, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 6.97, "te": 8.25, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put the milk tea into the packaging bag", "ts": 8.25, "te": 14.03, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 14.03, "te": 15.52, "mistake": false}, {"skill": "Place", "label": "Right hand puts a straw into the packaging bag", "ts": 15.52, "te": 17.67, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the packaging bag", "ts": 17.67, "te": 24.17, "mistake": false}, {"skill": "Tear", "label": "Both hands coordinate to tear off the packaging strip on the packaging bag", "ts": 24.17, "te": 25.73, "mistake": false}, {"skill": "Place", "label": "Right hand places the packaging strip on the table", "ts": 25.73, "te": 26.53, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the packaging bag", "ts": 26.53, "te": 29.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up the packaging bag on the table", "ts": 29.7, "te": 31.0, "mistake": false}, {"skill": "Place", "label": "Left hand places the packaging bag on the table", "ts": 31.0, "te": 32.67, "mistake": false}]}, {"slug": "task_16207_ep077", "kind": "sim", "task": "task_16207", "ep": 77, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Straighten the chair", "duration": 6.58, "nframes": 396, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 1, "skills": {"Straighten": 1}, "skill_list": ["Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Dual arms coordinate to adjust the position of the chair", "ts": 0.0, "te": 6.58, "mistake": false}]}, {"slug": "task_16207_ep078", "kind": "sim", "task": "task_16207", "ep": 78, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Wash the glass", "duration": 24.93, "nframes": 1497, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Wipe": 1, "Place": 1, "HandOver": 1, "Open": 1, "Rinse": 1}, "skill_list": ["HandOver", "Open", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.9673, "hand_state/right": 0.9967, "head_camera/valid": 0.9967, "head_state/valid": 0.9967, "left_end/valid": 0.9673, "left_hand/valid": 0.9673, "right_end/valid": 0.9967, "right_hand/valid": 0.9967}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Wipe", "label": "Both hands coordinate to wipe the glass with the yellow sponge", "ts": 0.0, "te": 15.93, "mistake": false}, {"skill": "Place", "label": "Right hand places the yellow sponge by the sink", "ts": 15.93, "te": 17.0, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over the glass to the right hand", "ts": 17.0, "te": 18.07, "mistake": false}, {"skill": "Open", "label": "Left hand turns on the faucet", "ts": 18.07, "te": 18.63, "mistake": false}, {"skill": "Rinse", "label": "Both hands coordinate to rinse the glass under the faucet", "ts": 18.63, "te": 24.93, "mistake": false}]}, {"slug": "task_16207_ep079", "kind": "sim", "task": "task_16207", "ep": 79, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 8.9, "nframes": 535, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 6, "skills": {"Pick": 2, "Straighten": 2, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9346, "hand_state/right": 0.9832, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9346, "left_hand/valid": 0.9346, "right_end/valid": 0.9832, "right_hand/valid": 0.9832}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a green piece of clothing from the basket", "ts": 0.0, "te": 2.38, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 2.38, "te": 3.65, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a green piece of clothing into the washing machine", "ts": 3.65, "te": 4.58, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a patterned piece of clothing from the basket", "ts": 4.58, "te": 6.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the clothes", "ts": 6.4, "te": 7.75, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a patterned piece of clothing into the washing machine", "ts": 7.75, "te": 8.9, "mistake": false}]}, {"slug": "task_16207_ep080", "kind": "sim", "task": "task_16207", "ep": 80, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Plug the charging cable into the glasses", "duration": 11.17, "nframes": 671, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 5, "skills": {"Rotate": 2, "Pick": 1, "Insert": 1, "Press": 1}, "skill_list": ["Insert", "Pick", "Press", "Rotate"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the white glasses on the table while right hand picks up the charging cable", "ts": 0.0, "te": 1.1, "mistake": false}, {"skill": "Insert", "label": "Dual arms coordinate to insert the charging cable into the white glasses", "ts": 1.1, "te": 4.03, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to the side", "ts": 4.03, "te": 5.37, "mistake": false}, {"skill": "Press", "label": "Both hands coordinate to press the button of the white glasses", "ts": 5.37, "te": 10.8, "mistake": false}, {"skill": "Rotate", "label": "Both hands rotate the white glasses to face forward", "ts": 10.8, "te": 11.18, "mistake": false}]}, {"slug": "task_16207_ep081", "kind": "sim", "task": "task_16207", "ep": 81, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 15.6, "nframes": 937, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Pick": 2, "Insert": 2, "PressButton": 2, "Straighten": 1}, "skill_list": ["Insert", "Pick", "PressButton", "Straighten"], "valids": {"hand_state/left": 0.9957, "hand_state/right": 0.9957, "head_camera/valid": 0.9957, "head_state/valid": 0.9957, "left_end/valid": 0.9957, "left_hand/valid": 0.9957, "right_end/valid": 0.9957, "right_hand/valid": 0.9957}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 2.48, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 2.48, "te": 5.67, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up the VR glasses", "ts": 5.67, "te": 6.78, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 6.78, "te": 9.65, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 9.65, "te": 10.05, "mistake": false}, {"skill": "Insert", "label": "Both hands coordinate to insert the charging cable into the charging port of the VR glasses", "ts": 10.05, "te": 11.45, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 11.45, "te": 15.6, "mistake": false}]}, {"slug": "task_16207_ep082", "kind": "sim", "task": "task_16207", "ep": 82, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store tableware", "duration": 7.3, "nframes": 439, "fps": 30, "usability": 1.0, "overall": 5.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 4, "skills": {"Pick": 2, "Place": 1, "Stack": 1}, "skill_list": ["Pick", "Place", "Stack"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 0.0, "te": 1.55, "mistake": false}, {"skill": "Place", "label": "Right hand places a bowl on the table", "ts": 1.55, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a bowl on the table", "ts": 3.25, "te": 4.65, "mistake": false}, {"skill": "Stack", "label": "The right hand stacks one bowl on top of another bowl", "ts": 4.65, "te": 7.3, "mistake": false}]}, {"slug": "task_16207_ep083", "kind": "sim", "task": "task_16207", "ep": 83, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up bedding", "duration": 27.12, "nframes": 1628, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 11, "skills": {"Straighten": 9, "Pick": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9883, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9883, "left_hand/valid": 0.9883, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand tidies up the quilt", "ts": 0.0, "te": 3.38, "mistake": false}, {"skill": "Straighten", "label": "Right hand tidies up the quilt", "ts": 3.38, "te": 4.3, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the quilt", "ts": 4.3, "te": 5.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 5.85, "te": 7.05, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the bed sheet", "ts": 7.05, "te": 9.07, "mistake": false}, {"skill": "Straighten", "label": "Left hand tidies up the bed sheet", "ts": 9.07, "te": 12.13, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 12.13, "te": 13.65, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 13.65, "te": 17.17, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the bed sheet", "ts": 17.17, "te": 19.48, "mistake": false}, {"skill": "Pick", "label": "Both hands coordinate to pick up a pillow on the bed", "ts": 19.48, "te": 25.35, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place a pillow beside the head of the bed", "ts": 25.35, "te": 27.12, "mistake": false}]}, {"slug": "task_16207_ep084", "kind": "sim", "task": "task_16207", "ep": 84, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the clothes into the washing machine", "duration": 10.43, "nframes": 627, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.9", "sn": "ES03AA126072100082", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 3, "Straighten": 3, "Place": 3}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.941, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.941, "right_hand/valid": 0.941}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up a piece of clothing from the basket", "ts": 0.0, "te": 1.82, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 1.82, "te": 2.6, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 2.6, "te": 3.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a piece of clothing from the basket", "ts": 3.25, "te": 4.85, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a piece of clothing", "ts": 4.85, "te": 6.27, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a piece of clothing into the washing machine", "ts": 6.27, "te": 6.88, "mistake": false}, {"skill": "Pick", 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hand picks up a black part from the blue tray", "ts": 0.0, "te": 0.2, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 0.2, "te": 1.37, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 1.37, "te": 2.68, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 2.68, "te": 4.13, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 4.13, "te": 5.8, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 5.8, "te": 7.37, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 7.37, "te": 8.72, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 8.72, "te": 10.35, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 10.35, "te": 12.0, "mistake": false}, {"skill": "Place", "label": "Right hand places a green part onto the red tray", "ts": 12.0, "te": 13.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a green part from the blue tray", "ts": 13.87, "te": 15.65, "mistake": false}, {"skill": "Stack", "label": "Right hand stacks a green part on another green part", "ts": 15.65, "te": 17.35, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 17.35, "te": 20.37, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 20.37, "te": 21.53, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 21.53, "te": 22.78, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 22.78, "te": 23.98, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 23.98, "te": 25.45, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 25.45, "te": 26.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 26.7, "te": 28.08, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 28.08, "te": 29.25, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 29.25, "te": 30.45, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 30.45, "te": 31.6, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 31.6, "te": 33.02, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 33.02, "te": 34.32, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the red tray", "ts": 34.32, "te": 34.62, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 34.62, "te": 35.42, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the red tray", "ts": 35.42, "te": 36.15, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 36.15, "te": 37.18, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 37.18, "te": 38.37, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 38.37, "te": 40.83, "mistake": false}]}, {"slug": "task_16207_ep092", "kind": "sim", "task": "task_16207", "ep": 92, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pour water into the cup", "duration": 17.55, "nframes": 1054, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 3, "skills": {"Pick": 1, "Pour": 1, "Place": 1}, "skill_list": ["Pick", "Place", "Pour"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the kettle on the table", "ts": 0.0, "te": 3.22, "mistake": false}, {"skill": "Pour", "label": "Right hand pours the water from the kettle into the cup", "ts": 3.22, "te": 15.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the kettle on the table", "ts": 15.0, "te": 17.55, "mistake": false}]}, {"slug": "task_16207_ep093", "kind": "sim", "task": "task_16207", "ep": 93, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Clean the cup", "duration": 32.78, "nframes": 1968, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Wipe": 2, "Place": 2, "Rinse": 2, "Pick": 2}, "skill_list": ["Pick", "Place", "Rinse", "Wipe"], "valids": {"hand_state/left": 0.9817, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 0.9817, "left_hand/valid": 0.9817, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Wipe", "label": "The right hand uses a sponge to wipe the inside of a glass cup clean", "ts": 0.0, "te": 10.27, "mistake": false}, {"skill": "Place", "label": "The right hand places the sponge by the sink", "ts": 10.27, "te": 11.37, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a glass cup", "ts": 11.37, "te": 24.7, "mistake": false}, {"skill": "Place", "label": "The right hand places a glass cup on the table", "ts": 24.7, "te": 25.4, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a white cup from the sink", "ts": 25.4, "te": 25.95, "mistake": false}, {"skill": "Rinse", "label": "Both hands work together to rinse a white cup", "ts": 25.95, "te": 30.08, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the sponge from beside the sink", "ts": 30.08, "te": 31.0, "mistake": false}, {"skill": "Wipe", "label": "The right hand uses a sponge to wipe the inside of a white cup clean", "ts": 31.0, "te": 32.78, "mistake": false}]}, {"slug": "task_16207_ep094", "kind": "sim", "task": "task_16207", "ep": 94, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 33.07, "nframes": 1985, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 12, "skills": {"Pick": 4, "Place": 4, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9798, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9798, "right_hand/valid": 0.9798}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The left hand picks up a milk tea bag on the table", "ts": 0.0, "te": 1.75, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the milk tea bag", "ts": 1.75, "te": 6.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 6.08, "te": 7.2, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the milk tea into the milk tea bag", "ts": 7.2, "te": 10.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 10.63, "te": 12.12, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a straw inside the milk tea bag", "ts": 12.12, "te": 14.23, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the milk tea bag", "ts": 14.23, "te": 19.95, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the packing strip", "ts": 19.95, "te": 24.13, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 24.13, "te": 25.25, "mistake": false}, {"skill": "Close", "label": "Both hands work together to close the milk tea bag", "ts": 25.25, "te": 29.05, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the milk tea bag on the table", "ts": 29.05, "te": 30.0, "mistake": false}, {"skill": "Place", "label": "The right hand places the milk tea bag on the table", "ts": 30.0, "te": 33.07, "mistake": false}]}, {"slug": "task_16207_ep095", "kind": "sim", "task": "task_16207", "ep": 95, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Put the screw into the tool box", "duration": 33.87, "nframes": 2033, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 11, "Place": 11}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 0.0, "te": 2.67, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 2.67, "te": 4.15, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 4.15, "te": 5.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 5.85, "te": 6.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 6.98, "te": 8.53, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 8.53, "te": 10.07, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 10.07, "te": 11.62, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 11.62, "te": 13.45, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 13.45, "te": 14.95, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 14.95, "te": 17.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 17.57, "te": 19.18, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 19.18, "te": 20.45, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 20.45, "te": 21.75, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 21.75, "te": 22.67, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 22.67, "te": 23.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 23.85, "te": 24.7, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 24.7, "te": 26.3, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 26.3, "te": 27.58, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 27.58, "te": 29.05, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 29.05, "te": 29.93, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a screw from the desktop", "ts": 29.93, "te": 32.7, "mistake": false}, {"skill": "Place", "label": "The right hand places the screw into the tool box", "ts": 32.7, "te": 33.87, "mistake": false}]}, {"slug": "task_16207_ep096", "kind": "sim", "task": "task_16207", "ep": 96, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Pack the milk tea", "duration": 37.18, "nframes": 2232, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Place": 6, "Pick": 4, "Open": 1, "Straighten": 1, "Tear": 1, "Close": 1}, "skill_list": ["Close", "Open", "Pick", "Place", "Straighten", "Tear"], "valids": {"hand_state/left": 1.0, "hand_state/right": 0.9633, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 0.9633, "right_hand/valid": 0.9633}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Left hand picks up the milk tea bag on the table while right hand picks up the milk tea on the table", "ts": 0.0, "te": 2.6, "mistake": false}, {"skill": "Place", "label": "Right hand places the milk tea on the table", "ts": 2.6, "te": 3.33, "mistake": false}, {"skill": "Open", "label": "Both hands coordinate to open the milk tea bag", "ts": 3.33, "te": 7.42, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to place the milk tea bag on the table", "ts": 7.42, "te": 10.4, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the milk tea on the table", "ts": 10.4, "te": 11.15, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put the milk tea into the milk tea bag", "ts": 11.15, "te": 15.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a straw from the cup", "ts": 15.08, "te": 16.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to put a straw into the milk tea bag", "ts": 16.42, "te": 19.62, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the milk tea bag", "ts": 19.62, "te": 23.5, "mistake": false}, {"skill": "Tear", "label": "Both hands work together to tear off the packing strip on the milk tea bag", "ts": 23.5, "te": 28.33, "mistake": false}, {"skill": "Place", "label": "The right hand places the packing strip on the table", "ts": 28.33, "te": 29.5, "mistake": false}, {"skill": "Close", "label": "Both hands work together to close the milk tea bag", "ts": 29.5, "te": 33.73, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the milk tea bag on the table", "ts": 33.73, "te": 34.8, "mistake": false}, {"skill": "Place", "label": "The left hand places the milk tea bag on the table", "ts": 34.8, "te": 37.18, "mistake": false}]}, {"slug": "task_16207_ep097", "kind": "sim", "task": "task_16207", "ep": 97, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Tidy up parts", "duration": 37.5, "nframes": 2250, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 26, "skills": {"Pick": 13, "Place": 13}, "skill_list": ["Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 0.0, "te": 1.6, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 1.6, "te": 2.63, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a black part from the blue tray", "ts": 2.63, "te": 4.02, "mistake": false}, {"skill": "Place", "label": "Right hand places a black part onto the red tray", "ts": 4.02, "te": 5.32, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 5.32, "te": 7.23, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 7.23, "te": 8.68, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a gray part from the blue tray", "ts": 8.68, "te": 9.83, "mistake": false}, {"skill": "Place", "label": "Right hand places a gray part onto the red tray", "ts": 9.83, "te": 11.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a white part from the blue tray", "ts": 11.22, "te": 13.02, "mistake": false}, {"skill": "Place", "label": "The right hand places a white part on the red tray", "ts": 13.02, "te": 14.13, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a black part from the blue tray", "ts": 14.13, "te": 16.43, "mistake": false}, {"skill": "Place", "label": "The left hand places a black part on the red tray", "ts": 16.43, "te": 18.27, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a gray part from the blue tray", "ts": 18.27, "te": 19.57, "mistake": false}, {"skill": "Place", "label": "Left hand places a gray part onto the red tray", "ts": 19.57, "te": 21.37, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 21.37, "te": 23.4, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 23.4, "te": 24.52, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 24.52, "te": 25.97, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 25.97, "te": 27.03, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white part from the blue tray", "ts": 27.03, "te": 28.85, "mistake": false}, {"skill": "Place", "label": "Left hand places a white part onto the red tray", "ts": 28.85, "te": 29.87, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 29.87, "te": 31.58, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 31.58, "te": 32.7, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 32.7, "te": 33.82, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 33.82, "te": 34.85, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green part from the blue tray", "ts": 34.85, "te": 35.88, "mistake": false}, {"skill": "Place", "label": "Left hand places a green part onto the red tray", "ts": 35.88, "te": 37.48, "mistake": false}]}, {"slug": "task_16207_ep098", "kind": "sim", "task": "task_16207", "ep": 98, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Organize the snack bag", "duration": 37.33, "nframes": 2241, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 14, "skills": {"Pick": 5, "Place": 5, "HandOver": 2, "Straighten": 2}, "skill_list": ["HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a yellow snack bag from the basket", "ts": 0.0, "te": 2.67, "mistake": false}, {"skill": "Place", "label": "The right hand places a yellow snack bag on the shelf", "ts": 2.67, "te": 6.82, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 6.82, "te": 9.02, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a red snack bag to the left hand", "ts": 9.02, "te": 10.38, "mistake": false}, {"skill": "Place", "label": "The left hand places a red snack bag on the shelf", "ts": 10.38, "te": 13.22, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 13.22, "te": 14.15, "mistake": false}, {"skill": "HandOver", "label": "The right hand passes a red snack bag to the left hand", "ts": 14.15, "te": 15.38, "mistake": false}, {"skill": "Place", "label": "The left hand places a red snack bag on the shelf", "ts": 15.38, "te": 20.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 20.25, "te": 22.95, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a red snack bag", "ts": 22.95, "te": 26.6, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a red snack bag on the shelf", "ts": 26.6, "te": 29.98, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up a red snack bag from the basket", "ts": 29.98, "te": 31.67, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize a red snack bag", "ts": 31.67, "te": 33.45, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a red snack bag on the shelf", "ts": 33.45, "te": 37.33, "mistake": false}]}, {"slug": "task_16207_ep099", "kind": "sim", "task": "task_16207", "ep": 99, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make slush", "duration": 53.39, "nframes": 3204, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 25, "skills": {"Place": 11, "Pick": 7, "Takeout (remove)": 4, "Screw (tighten)": 1, "Rotate": 1, "Pour": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Screw (tighten)", "Takeout (remove)"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 2.47, "mistake": false}, {"skill": "Place", "label": "The right hand places the lid on the table", "ts": 2.47, "te": 3.87, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a cup on the table", "ts": 3.87, "te": 4.33, "mistake": false}, {"skill": "Place", "label": "The right hand pours the ice cubes from the cup into the shaved ice machine", "ts": 4.33, "te": 5.37, "mistake": false}, {"skill": "Place", "label": "Right hand places a cup on the table", "ts": 5.37, "te": 6.33, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the lid on the table", "ts": 6.33, "te": 7.13, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 7.13, "te": 9.4, "mistake": false}, {"skill": "Screw (tighten)", "label": "Both hands work together to tighten the lid on the shaved ice machine", "ts": 9.4, "te": 10.9, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 10.9, "te": 28.87, "mistake": false}, {"skill": "Takeout (remove)", "label": "The right hand takes out the plastic box from the shaved ice machine", "ts": 28.87, "te": 29.8, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a spoon from the table", "ts": 29.8, "te": 30.5, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use a spoon to pour the slush from the plastic box into a cup", "ts": 30.5, "te": 34.2, "mistake": false}, {"skill": "Place", "label": "The left hand places a spoon on the table", "ts": 34.2, "te": 34.88, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 34.88, "te": 35.98, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a spoon from the topping box", "ts": 35.98, "te": 37.47, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 37.47, "te": 38.67, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 38.67, "te": 39.78, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 39.78, "te": 40.98, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 40.98, "te": 42.78, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses a spoon to take out one type of topping", "ts": 42.78, "te": 44.5, "mistake": false}, {"skill": "Place", "label": "The left hand pours the topping from a spoon into a cup", "ts": 44.5, "te": 45.4, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a small spoon from the cup", "ts": 45.4, "te": 47.7, "mistake": false}, {"skill": "Place", "label": "The left hand places a small spoon into a cup", "ts": 47.7, "te": 49.25, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a cup from the table", "ts": 49.25, "te": 50.28, "mistake": false}, {"skill": "Place", "label": "The left hand places a cup on the table", "ts": 50.28, "te": 53.38, "mistake": false}]}, {"slug": "task_16207_ep100", "kind": "sim", "task": "task_16207", "ep": 100, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Charge the VR glasses", "duration": 12.33, "nframes": 741, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 7, "skills": {"Insert": 2, "Straighten": 2, "PressButton": 2, "Pick": 1}, "skill_list": ["Insert", "Pick", "PressButton", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up the charging cable on the table", "ts": 0.0, "te": 0.9, "mistake": false}, {"skill": "Insert", "label": "The right hand inserts the charging cable into the VR glasses", "ts": 0.9, "te": 3.63, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 3.63, "te": 6.55, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 6.55, "te": 8.42, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the VR glasses", "ts": 8.42, "te": 9.02, "mistake": false}, {"skill": "Insert", "label": "The right hand inserts the charging cable into the VR glasses", "ts": 9.02, "te": 10.68, "mistake": false}, {"skill": "PressButton", "label": "Left hand presses the button of the VR glasses", "ts": 10.68, "te": 12.33, "mistake": false}]}, {"slug": "task_16207_ep101", "kind": "sim", "task": "task_16207", "ep": 101, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 43.27, "nframes": 2597, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 7, "Straighten": 4, "Scan": 3}, "skill_list": ["Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 0.0, "te": 2.98, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 2.98, "te": 5.33, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to organize the plastic bag", "ts": 5.33, "te": 8.37, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 8.37, "te": 10.0, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 10.0, "te": 13.12, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 13.12, "te": 14.07, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 14.07, "te": 16.28, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 16.28, "te": 17.82, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 17.82, "te": 20.03, "mistake": false}, {"skill": "Straighten", "label": "Both hands work together to adjust the position of the plastic bag", "ts": 20.03, "te": 21.25, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 21.25, "te": 22.28, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 22.28, "te": 23.23, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 23.23, "te": 26.8, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 26.8, "te": 27.8, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 27.8, "te": 29.33, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the shopping basket", "ts": 29.33, "te": 31.1, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 31.1, "te": 32.55, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 32.55, "te": 35.8, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the table", "ts": 35.8, "te": 36.93, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place a product into the plastic bag", "ts": 36.93, "te": 38.47, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag", "ts": 38.47, "te": 40.42, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the plastic bag on the table", "ts": 40.42, "te": 43.27, "mistake": false}]}, {"slug": "task_16207_ep102", "kind": "sim", "task": "task_16207", "ep": 102, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Scan the product code and bag the product", "duration": 49.32, "nframes": 2959, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 23, "skills": {"Pick": 8, "Place": 8, "Scan": 3, "Open": 1, "HandOver": 1, "Straighten": 1, "Flip": 1}, "skill_list": ["Flip", "HandOver", "Open", "Pick", "Place", "Scan", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up a transparent plastic bag from the table", "ts": 0.0, "te": 2.52, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the transparent plastic bag on the table", "ts": 2.52, "te": 6.78, "mistake": false}, {"skill": "Open", "label": "Both hands work together to open the plastic bag", "ts": 6.78, "te": 10.57, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the desktop", "ts": 10.57, "te": 11.88, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a beverage bottle from the blue shopping basket", "ts": 11.88, "te": 13.75, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 13.75, "te": 17.12, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 17.12, "te": 19.45, "mistake": false}, {"skill": "HandOver", "label": "The left hand passes the beverage bottle to the right hand", "ts": 19.45, "te": 20.12, "mistake": false}, {"skill": "Place", "label": "The right hand puts the beverage bottle into the plastic bag", "ts": 20.12, "te": 21.38, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the blue shopping basket", "ts": 21.38, "te": 22.88, "mistake": false}, {"skill": "Straighten", "label": "The right hand assists the left hand in adjusting how to hold the product", "ts": 22.88, "te": 24.53, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the desktop", "ts": 24.53, "te": 26.07, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 26.07, "te": 27.98, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 27.98, "te": 30.02, "mistake": false}, {"skill": "Place", "label": "The left hand puts the product into the plastic bag", "ts": 30.02, "te": 31.5, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up a product from the blue shopping basket", "ts": 31.5, "te": 33.45, "mistake": false}, {"skill": "Flip", "label": "Both hands work together to flip the product to its reverse side", "ts": 33.45, "te": 35.32, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the barcode scanner on the desktop", "ts": 35.32, "te": 36.85, "mistake": false}, {"skill": "Scan", "label": "Both hands work together to use the barcode scanner to scan the product code", "ts": 36.85, "te": 39.77, "mistake": false}, {"skill": "Place", "label": "The right hand places the barcode scanner on the table", "ts": 39.77, "te": 41.52, "mistake": false}, {"skill": "Place", "label": "The left hand puts the product into the plastic bag", "ts": 41.52, "te": 44.22, "mistake": false}, {"skill": "Pick", "label": "Both hands work together to pick up the plastic bag on the table", "ts": 44.22, "te": 45.12, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic bag on the table", "ts": 45.12, "te": 49.3, "mistake": false}]}, {"slug": "task_16207_ep103", "kind": "sim", "task": "task_16207", "ep": 103, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Assemble the tangram", "duration": 25.88, "nframes": 1554, "fps": 30, "usability": 1.0, "overall": 4.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 22, "skills": {"Pick": 8, "Place": 8, "Straighten": 4, "HandOver": 1, "Flip": 1}, "skill_list": ["Flip", "HandOver", "Pick", "Place", "Straighten"], "valids": {"hand_state/left": 0.9704, "hand_state/right": 0.9916, "head_camera/valid": 0.9916, "head_state/valid": 0.9916, "left_end/valid": 0.9704, "left_hand/valid": 0.9704, "right_end/valid": 0.9916, "right_hand/valid": 0.9916}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a red triangle on the table", "ts": 0.0, "te": 0.8, "mistake": false}, {"skill": "Place", "label": "Right hand puts a red triangle into the wooden frame", "ts": 0.8, "te": 1.4, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the red triangle", "ts": 1.4, "te": 1.8, "mistake": false}, {"skill": "Straighten", "label": "Right hand adjusts the position of the red triangle", "ts": 1.8, "te": 3.27, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a yellow triangle on the table", "ts": 3.27, "te": 5.37, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put a yellow triangle into the wooden frame", "ts": 5.37, "te": 8.3, "mistake": false}, {"skill": "Straighten", "label": "Left hand adjusts the position of the green square", "ts": 8.3, "te": 9.38, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a blue triangle on the table", "ts": 9.38, "te": 10.52, "mistake": false}, {"skill": "HandOver", "label": "Left hand hands over a blue triangle to the right hand", "ts": 10.52, "te": 11.22, "mistake": false}, {"skill": "Place", "label": "Right hand puts a blue triangle into the wooden frame", "ts": 11.22, "te": 12.28, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a green square on the table", "ts": 12.28, "te": 13.05, "mistake": false}, {"skill": "Place", "label": "Left hand puts a green square into the wooden frame", "ts": 13.05, "te": 14.53, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a brown triangle on the table", "ts": 14.53, "te": 15.82, "mistake": false}, {"skill": "Place", "label": "Right hand puts a brown triangle into the wooden frame", "ts": 15.82, "te": 17.67, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a purple triangle on the table", "ts": 17.67, "te": 19.18, "mistake": false}, {"skill": "Place", "label": "Right hand puts a purple triangle into the wooden frame", "ts": 19.18, "te": 20.78, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up an orange parallelogram on the table", "ts": 20.78, "te": 22.03, "mistake": true}, {"skill": "Place", "label": "Left hand puts an orange parallelogram into the wooden frame", "ts": 22.03, "te": 22.93, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up an orange parallelogram on the wooden frame", "ts": 22.93, "te": 23.65, "mistake": false}, {"skill": "Flip", "label": "Both hands coordinate to flip the orange parallelogram", "ts": 23.65, "te": 24.37, "mistake": false}, {"skill": "Place", "label": "Both hands coordinate to put an orange parallelogram into the wooden frame", "ts": 24.37, "te": 25.15, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to adjust the position of the orange parallelogram", "ts": 25.15, "te": 25.88, "mistake": false}]}, {"slug": "task_16207_ep104", "kind": "sim", "task": "task_16207", "ep": 104, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store items", "duration": 22.72, "nframes": 1364, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 9, "skills": {"Pick": 4, "Place": 4, "Close": 1}, "skill_list": ["Close", "Pick", "Place"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "Right hand picks up a pink item on the table", "ts": 0.0, "te": 1.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the pink item into the cabinet", "ts": 1.65, "te": 4.08, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up a white bottle on the table", "ts": 4.08, "te": 5.65, "mistake": false}, {"skill": "Place", "label": "Right hand places the white bottle into the cabinet", "ts": 5.65, "te": 8.6, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white bottle on the table", "ts": 8.6, "te": 10.5, "mistake": false}, {"skill": "Place", "label": "Left hand places the white bottle into the cabinet", "ts": 10.5, "te": 12.93, "mistake": false}, {"skill": "Pick", "label": "Left hand picks up a white box on the table", "ts": 12.93, "te": 14.95, "mistake": false}, {"skill": "Place", "label": "Left hand places the white box into the cabinet", "ts": 14.95, "te": 17.62, "mistake": false}, {"skill": "Close", "label": "Both hands coordinate to close the cabinet", "ts": 17.62, "te": 22.72, "mistake": false}]}, {"slug": "task_16207_ep105", "kind": "sim", "task": "task_16207", "ep": 105, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Store the black strap", "duration": 28.58, "nframes": 1715, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 8, "skills": {"Straighten": 3, "Pick": 3, "Place": 2}, "skill_list": ["Pick", "Place", "Straighten"], "valids": {"hand_state/left": 1.0, "hand_state/right": 1.0, "head_camera/valid": 1.0, "head_state/valid": 1.0, "left_end/valid": 1.0, "left_hand/valid": 1.0, "right_end/valid": 1.0, "right_hand/valid": 1.0}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Straighten", "label": "Right hand adjusts the position of the black strap on the table", "ts": 0.0, "te": 1.88, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 1.88, "te": 12.02, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 12.02, "te": 13.0, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 13.0, "te": 15.8, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 15.8, "te": 17.73, "mistake": false}, {"skill": "Place", "label": "Right hand places the black strap into the white box", "ts": 17.73, "te": 18.57, "mistake": false}, {"skill": "Straighten", "label": "Both hands coordinate to tidy up the black strap", "ts": 18.57, "te": 28.05, "mistake": false}, {"skill": "Pick", "label": "Right hand picks up the black strap on the table", "ts": 28.05, "te": 28.57, "mistake": false}]}, {"slug": "task_16207_ep106", "kind": "sim", "task": "task_16207", "ep": 106, "short": "Staged household / retail", "task_name": "N Customer MEgo Bare Hand", "instruction": "Make shaved ice", "duration": 51.5, "nframes": 3090, "fps": 30, "usability": 1.0, "overall": -1.0, "episode_status": "approved", "sw_version": "2.0.1", "sn": "ES03AA126070800067", "qc": {"status": "warn", "total": 41, "passed": 39, "warnings": 2, "failures": 0}, "has_vis": false, "n_segments": 25, "skills": {"Place": 8, "Pick": 7, "Pour": 5, "Takeout (remove)": 3, "Screw (tighten)": 1, "Rotate": 1}, "skill_list": ["Pick", "Place", "Pour", "Rotate", "Screw (tighten)", "Takeout (remove)"], "valids": {"hand_state/left": 0.9994, "hand_state/right": 0.9994, "head_camera/valid": 0.9994, "head_state/valid": 0.9994, "left_end/valid": 0.9994, "left_hand/valid": 0.9994, "right_end/valid": 0.9994, "right_hand/valid": 0.9994}, "state_dim": 635, "codebase_version": "v3.0", "robot_type": "umi", "segments": [{"skill": "Pick", "label": "The right hand picks up the lid on the shaved ice machine", "ts": 0.0, "te": 3.85, "mistake": false}, {"skill": "Place", "label": "The right hand places the lid on the table", "ts": 3.85, "te": 5.37, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic cup on the table", "ts": 5.37, "te": 6.22, "mistake": false}, {"skill": "Pour", "label": "The right hand pours the ice cubes from the plastic cup into the shaved ice machine", "ts": 6.22, "te": 7.4, "mistake": false}, {"skill": "Place", "label": "The right hand places the plastic cup on the table", "ts": 7.4, "te": 8.1, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the lid on the table", "ts": 8.1, "te": 9.4, "mistake": false}, {"skill": "Place", "label": "Both hands work together to place the lid on the shaved ice machine", "ts": 9.4, "te": 10.87, "mistake": false}, {"skill": "Screw (tighten)", "label": "Both hands work together to tighten the lid of the shaved ice machine", "ts": 10.87, "te": 12.65, "mistake": false}, {"skill": "Rotate", "label": "Both hands work together to rotate the handle of the shaved ice machine", "ts": 12.65, "te": 28.17, "mistake": false}, {"skill": "Pick", "label": "The right hand picks up the plastic box inside the shaved ice machine while the left hand picks up the spoon on the table", "ts": 28.17, "te": 29.7, "mistake": false}, {"skill": "Pour", "label": "Both hands work together to use the spoon to pour the slush from the plastic box into the mug", "ts": 29.7, "te": 33.17, "mistake": false}, {"skill": "Place", "label": "The left hand places the spoon on the table", "ts": 33.17, "te": 33.98, "mistake": false}, {"skill": "Place", "label": "The right hand puts the plastic box into the shaved ice machine", "ts": 33.98, "te": 35.63, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the small spoon from the topping box", "ts": 35.63, "te": 36.73, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 36.73, "te": 37.77, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the topping into the mug", "ts": 37.77, "te": 38.83, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 38.83, "te": 40.45, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the topping into the mug", "ts": 40.45, "te": 41.27, "mistake": false}, {"skill": "Takeout (remove)", "label": "The left hand uses the small spoon to take out one type of topping from the topping box", "ts": 41.27, "te": 43.95, "mistake": false}, {"skill": "Pour", "label": "The left hand pours the topping into the mug", "ts": 43.95, "te": 44.92, "mistake": false}, {"skill": "Place", "label": "The left hand puts the small spoon back into the topping box", "ts": 44.92, "te": 45.75, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the transparent spoon from the transparent cup", "ts": 45.75, "te": 46.98, "mistake": false}, {"skill": "Place", "label": "The left hand places the transparent spoon into the mug", "ts": 46.98, "te": 48.2, "mistake": false}, {"skill": "Pick", "label": "The left hand picks up the mug on the table", "ts": 48.2, "te": 49.23, "mistake": false}, {"skill": "Place", "label": "The left hand places the mug on the coaster", "ts": 49.23, "te": 51.48, "mistake": false}]}], "skc": {"Clip": "#4f83cc", "Close": "#e0913a", "CloseBox": "#5aa469", "Cut": "#c0504d", "Dip": "#8064a2", "Drop": "#4bacc6", "Flip": "#d98594", "Fold": "#9b8f2e", "HandOver": "#7f8fa6", "Hang": "#674ea7", "Insert": "#3d9970", "Knead": "#b8860b", "Open": "#a0522d", "Paint": "#2e8b8b", "Pick": "#b5651d", "Place": "#6a5acd", "Plug": "#556b2f", "Pour": "#8b3a62", "Press": "#487eb0", "PressButton": "#cc8e35", "Pull": "#6b8e23", "Rinse": "#9370db", "Rotate": "#20b2aa", "Scan": "#cd853f", "Scoop": "#4f83cc", "Screw (tighten)": "#e0913a", "Smear": "#5aa469", "Stack": "#c0504d", "Stir": "#8064a2", "Straighten": "#4bacc6", "Takedown": "#d98594", "Takeout (remove)": "#9b8f2e", "Tear": "#7f8fa6", "Wipe": "#674ea7", "dip": "#3d9970", "plug": "#b8860b"}, "cal": {"euler": [0.042, -0.0154, 0.0112], "t": [-0.0459, -0.0074, -0.0011], "s": 0.8817, "dt": 0.0048, "smoothW": 2, "W": 1600, "H": 1200}}</script>
+<script>
+const D = JSON.parse(document.getElementById('D').textContent);
+const EPS = D.eps, SKC = D.skc, CAL = D.cal;
+const CAMS = ["head_fisheye","head_fisheye_left","head_fisheye_right","head_stereo_left","head_stereo_right"];
+const KLAB = {wild:"In-the-wild", sim:"Simulated-scenario (staged)"};
+const AX = {x:"#e0616f", y:"#41c76b", z:"#4f8ff7"};
+let cur=-1, vids=[], master=null, playing=false, EP=null, SIG=null, raf=0, _toggle=null;
+let orbH={yaw:0,pitch:-0.28,drag:0}, orbP={yaw:0,pitch:-0.28,drag:0};
+
+const esc = s => (s||'').replace(/[&<>"]/g,c=>({'&':'&amp;','<':'&lt;','>':'&gt;','"':'&quot;'}[c]));
+const fmt = t => { t=Math.max(0,t); const m=Math.floor(t/60), s=t%60; return m+":"+s.toFixed(2).padStart(5,'0'); };
+
+/* ---------- sidebar: all episodes, grouped by task ---------- */
+function buildNav(){
+  document.getElementById('epcount').textContent = EPS.length;
+  const box=document.getElementById('nav');
+  let lastKind=null, groups={};
+  EPS.forEach((e,i)=>{ (groups[e.task]=groups[e.task]||[]).push(i); });
+  const order=[]; EPS.forEach(e=>{ if(!order.includes(e.task)) order.push(e.task); });
+  order.forEach(task=>{
+    const idxs=groups[task], e0=EPS[idxs[0]];
+    if(e0.kind!==lastKind){ const k=document.createElement('div'); k.className='kd';
+      k.textContent=KLAB[e0.kind]; box.appendChild(k); lastKind=e0.kind; }
+    const gh=document.createElement('div'); gh.className='gh'; gh.id='gh_'+task;
+    gh.innerHTML=`<span class="gt">${esc(e0.task_name)}</span><span class="gc">${idxs.length} ep</span>`;
+    const gb=document.createElement('div'); gb.className='gb'; gb.id='gb_'+task;
+    gh.onclick=()=>{ gb.classList.toggle('open'); gh.classList.toggle('open'); };
+    idxs.forEach(i=>{ const e=EPS[i];
+      const d=document.createElement('div'); d.className='ep'; d.dataset.i=i;
+      d.innerHTML=`<div class="a">ep${String(e.ep).padStart(3,'0')} · ${esc(e.instruction||e.task_name)}</div>
+        <div class="b">${e.duration}s · ${e.n_segments} spans · ${e.skill_list.length} skills</div>`;
+      d.onclick=()=>select(i); gb.appendChild(d); });
+    box.appendChild(gh); box.appendChild(gb);
+  });
+}
+function revealNav(i){
+  const e=EPS[i];
+  const gb=document.getElementById('gb_'+e.task); if(gb) gb.classList.add('open');
+  const gh=document.getElementById('gh_'+e.task); if(gh) gh.classList.add('open');
+  const row=document.querySelector('.ep[data-i="'+i+'"]');
+  if(row) row.scrollIntoView({block:'nearest'});
+}
+
+/* ---------- load episode ---------- */
+function select(i){
+  if(i===cur) return;
+  cur=i; EP=EPS[i]; SIG=null;
+  document.querySelectorAll('.ep').forEach(el=>el.classList.toggle('on',+el.dataset.i===i));
+  revealNav(i);
+  cancelAnimationFrame(raf); playing=false;
+  document.getElementById('main').scrollTop=0;
+  render();
+  loadSig(EP.slug);
+}
+function loadSig(slug){
+  const prev=document.getElementById('sigjs'); if(prev) prev.remove();
+  window.EPDATA=window.EPDATA||{};
+  const done=()=>{ SIG=window.EPDATA[slug]; if(!SIG) return; sizeCanvases(); drawCharts();
+    let fv=0; for(let k=0;k<SIG.n;k++){ if(SIG.handL.valid[k]>0.5&&SIG.handR.valid[k]>0.5){ fv=k/SIG.fps; break; } }
+    if(master && master.currentTime<0.05 && fv>0) setTime(fv); else if(master){ updateUI(master.currentTime||0); blitMain(); }
+    if(_toggle && !playing) _toggle(); };
+  if(window.EPDATA[slug]){ done(); return; }
+  const s=document.createElement('script'); s.id='sigjs'; s.src='epdata/'+slug+'.js';
+  s.onload=done; s.onerror=()=>{ SIG=null; };
+  document.body.appendChild(s);
+}
+
+/* ---------- render ---------- */
+function render(){
+  const e=EP, dur=e.duration, segs=e.segments;
+  const skc=s=>SKC[s]||'#666';
+
+  // Video/vis layout: center = head_fisheye (big); left col = *_left; right col = *_right
+  const tile=(k,main)=>`
+    <div class="vp ${main?'main':''}">
+      <video data-k="${k}" src="media/${e.slug}/${CAMS[k]}.mp4" muted playsinline preload="auto"></video>
+      ${main?'<canvas id="mainc"></canvas>':''}
+      <span class="lbl">${CAMS[k]}</span>
+    </div>`;
+  const vtiles = `
+    <div class="vcol">${tile(3)}${tile(1)}</div>
+    ${tile(0,true)}
+    <div class="vcol">${tile(4)}${tile(2)}</div>`;
+
+  const chips = segs.map((s,idx)=>`<div class="chip" data-i="${idx}" style="background:${skc(s.skill)}" title="${esc(s.skill)} — ${esc(s.label)}">${idx+1}</div>`).join('');
+  const slist = segs.length ? segs.map((s,idx)=>`
+    <div class="si" data-i="${idx}">
+      <div><span class="n" style="background:${skc(s.skill)}">${idx+1}</span>
+        <span class="k">${esc(s.skill)}</span>${s.mistake?'<span class="mist">MISTAKE</span>':''}
+        <span class="lb"> · ${s.ts.toFixed(2)}–${s.te.toFixed(2)}s</span></div>
+      <div class="m">${esc(s.label)}</div>
+    </div>`).join('') : '<div class="empty">no skill segments annotated for this episode</div>';
+  const legend = Object.keys(e.skills).sort().map(s=>
+    `<span class="it"><span class="sw" style="background:${skc(s)}"></span>${s} <b style="color:#e6e8ee">${e.skills[s]}</b></span>`).join('');
+  const validRows = Object.entries(e.valids).map(([k,v])=>
+    `<div class="ro"><span class="k">${k}</span><span class="v ${v<0.98?'':'hi'}">${(v*100).toFixed(1)}%</span></div>`).join('');
+  const dir = e.task+'/0';
+  const epp = String(e.ep).padStart(3,'0');
+  const camDl = CAMS.map(c=>`<a class="fc dl" href="media/${e.slug}/${c}.mp4" download="${e.slug}_${c}.mp4">${c}.mp4</a>`).join('');
+  const refChips = [
+    `data/chunk-000/file-${epp}.parquet`,
+    'meta/ff/segments.parquet','meta/ff/episode_meta.parquet',
+    'meta/ff/camera_params.json','meta/ff/quality.json','meta/info.json'
+  ].map(f=>`<span class="fc dim">${f}</span>`).join('');
+
+  document.getElementById('main').innerHTML = `
+  <header>
+    <h1>${esc(e.task_name)}</h1>
+    <div class="sub"><code>${e.task}</code> · episode ${e.ep} · ${e.duration}s @ 60fps</div>
+    <div class="badges"><span class="bdg">instruction: <b>${esc(e.instruction||'—')}</b></span></div>
+  </header>
+
+  <div class="layout">
+    <div class="panel">
+      <div class="vgrid">${vtiles}</div>
+      <div class="three">
+        <div class="cbox">
+          <span class="lbl">hand pose 3d · <span style="color:#ff4757">L</span> / <span style="color:#2ed573">R</span></span>
+          <canvas id="cHand"></canvas><span class="hint">drag to orbit</span>
+        </div>
+        <div class="cbox">
+          <span class="lbl">head pose 3d · <span style="color:#6ea8ff">trajectory</span></span>
+          <canvas id="cHead"></canvas><span class="hint">drag to orbit</span>
+        </div>
+      </div>
+    </div>
+
+    <div class="panel">
+      <div class="spans-head">temporal spans (${e.n_segments}) · <b>${esc(e.task_name)}</b></div>
+      <div class="tl" id="tl"></div>
+      <div class="chips" id="chips">${chips}</div>
+      <div class="slist" id="slist">${slist}</div>
+    </div>
+  </div>
+
+  <div class="legend">${legend}</div>
+
+  <div class="panel controls">
+    <button id="play">&#9654;</button>
+    <input type="range" id="seek" min="0" max="1000" value="0">
+    <span class="t" id="tlab">0:00.00 / ${fmt(dur)}</span>
+    <label><input type="checkbox" id="ovck" checked> project hand pose on head_fisheye</label>
+  </div>
+  <div class="badges" style="padding:0 20px;margin-top:8px">
+    <span class="bdg"><b>${e.nframes}</b> frames</span>
+    <span class="bdg"><b>${e.n_segments}</b> skill spans</span>
+    <span class="bdg"><b>${e.skill_list.length}</b> skills</span>
+    <span class="bdg">state dim <b>${e.state_dim}</b></span>
+    <span class="bdg">5 cams</span>
+    <span class="bdg">usability <b>${e.usability}</b></span>
+    <span class="bdg">overall <b>${e.overall}</b></span>
+    <span class="bdg">${e.episode_status}</span>
+    ${e.qc?`<span class="bdg">QC <b style="color:${e.qc.failures?'#ff5c5c':'#6fe08a'}">${e.qc.passed}/${e.qc.total}</b>${e.qc.warnings?` · ${e.qc.warnings} warn`:''}</span>`:''}
+    ${e.sw_version?`<span class="bdg">sw ${esc(e.sw_version)}</span>`:''}
+  </div>
+
+  <div class="panel readout">
+    <div class="rt">current-time readout</div>
+    <div class="rg">
+      <div class="ro"><span class="k">time</span><span class="v" id="roT">0.00s</span></div>
+      <div class="ro"><span class="k">current skill</span><span class="v b" id="roSk">–</span></div>
+      <div class="ro"><span class="k">span</span><span class="v" id="roSp">–</span></div>
+      <div class="ro"><span class="k">hand valid L / R</span><span class="v" id="roHv">–</span></div>
+      <div class="ro"><span class="k">head |&omega;| gyro</span><span class="v" id="roW">–</span></div>
+      <div class="ro"><span class="k">head |a| accel</span><span class="v" id="roA">–</span></div>
+      ${validRows}
+    </div>
+  </div>
+
+  <div class="charts">
+    <div class="panel chp"><div class="l">head IMU · gyro <span class="u">rad/s</span>
+      <span class="leg"><i style="background:${AX.x}"></i>x<i style="background:${AX.y}"></i>y<i style="background:${AX.z}"></i>z</span></div>
+      <canvas id="chG"></canvas></div>
+    <div class="panel chp"><div class="l">head IMU · accel <span class="u">m/s&sup2;</span>
+      <span class="leg"><i style="background:${AX.x}"></i>x<i style="background:${AX.y}"></i>y<i style="background:${AX.z}"></i>z</span></div>
+      <canvas id="chA"></canvas></div>
+    <div class="panel chp"><div class="l">head IMU · attitude <span class="u">deg · head_imu/angle</span>
+      <span class="leg"><i style="background:${AX.x}"></i>x<i style="background:${AX.y}"></i>y<i style="background:${AX.z}"></i>z</span></div>
+      <canvas id="chN"></canvas></div>
+    <div class="panel chp"><div class="l">wrist speed <span class="u">m/s · left_end / right_end</span>
+      <span class="leg"><i style="background:#ff4757"></i>L<i style="background:#2ed573"></i>R</span></div>
+      <canvas id="chS"></canvas></div>
+  </div>
+
+  <div class="panel" style="margin:14px 20px 30px;padding:11px 16px">
+    <div class="rt">episode clips &mdash; click to download</div>
+    <div class="files" style="padding:0 0 6px">${camDl}</div>
+    <div class="rt" style="margin-top:8px">dataset files &middot; Mego-view/${dir}/</div>
+    <div class="files" style="padding:0">${refChips}</div>
+  </div>`;
+
+  wire();
+}
+
+/* ---------- wiring ---------- */
+function wire(){
+  const e=EP, dur=e.duration, segs=e.segments;
+  vids = [...document.querySelectorAll('.vp video')];
+  master = document.querySelector('.vp video[data-k="0"]') || vids[0];
+  const seek=document.getElementById('seek'), playBtn=document.getElementById('play');
+
+  playBtn.onclick=toggle; _toggle=toggle;
+  // master (#mainc source) is display:none, so requestVideoFrameCallback never fires
+  // for it — the per-rAF blit in tick() is what keeps the centre tile moving.
+  function toggle(){
+    playing=!playing;
+    playBtn.innerHTML = playing?'&#10073;&#10073;':'&#9654;';
+    if(playing){ vids.forEach(v=>v.play().catch(()=>{})); tick(); }
+    else vids.forEach(v=>v.pause());
+  }
+  seek.oninput=()=>{ setTime(seek.value/1000*dur); };
+
+  const tl=document.getElementById('tl'); tl.innerHTML='';
+  segs.forEach(s=>{ const b=document.createElement('i');
+    b.style.width=((s.te-s.ts)/dur*100)+'%'; b.style.background=SKC[s.skill]||'#666';
+    b.title=`${s.skill} — ${s.label}`; b.onclick=ev=>{ev.stopPropagation(); setTime(s.ts+0.01);};
+    tl.appendChild(b); });
+  tl.onclick=ev=>{ const r=tl.getBoundingClientRect(); setTime((ev.clientX-r.left)/r.width*dur); };
+
+  document.querySelectorAll('#chips .chip').forEach(c=>c.onclick=()=>setTime(segs[+c.dataset.i].ts+0.01));
+  document.querySelectorAll('#slist .si').forEach(c=>c.onclick=()=>setTime(segs[+c.dataset.i].ts+0.01));
+  ['chG','chA','chN','chS'].forEach(id=>{ const c=document.getElementById(id);
+    if(c) c.onclick=ev=>{ const r=c.getBoundingClientRect(); setTime((ev.clientX-r.left)/r.width*dur); }; });
+
+  bindOrbit('cHand',orbH); bindOrbit('cHead',orbP);
+  document.getElementById('ovck').onchange=()=>blitMain();
+  master.addEventListener('seeked', blitMain);
+  master.addEventListener('loadeddata', ()=>{ sizeCanvases(); blitMain(); });
+
+  document.onkeydown=ev=>{
+    if(ev.code==='Space'){ev.preventDefault(); toggle();}
+    else if(ev.code==='ArrowRight'){ev.preventDefault(); const n=segs.find(s=>s.ts>master.currentTime+0.05); if(n) setTime(n.ts+0.01);}
+    else if(ev.code==='ArrowLeft'){ev.preventDefault(); const p=[...segs].reverse().find(s=>s.ts<master.currentTime-0.3); setTime(p?p.ts+0.01:0);}
+  };
+
+  sizeCanvases();
+  setTime(0);
+}
+
+function setTime(t){
+  const dur=EP.duration; t=Math.max(0,Math.min(dur-0.01,t));
+  vids.forEach(v=>{ try{ if(Math.abs(v.currentTime-t)>0.05) v.currentTime=t; }catch(e){} });
+  updateUI(t); blitMain(t);
+}
+function tick(){
+  if(!playing) return;
+  const t=master.currentTime, dur=EP.duration;
+  vids.forEach((v,k)=>{ if(k>0 && Math.abs(v.currentTime-t)>0.12){ try{v.currentTime=t;}catch(e){} } });
+  updateUI(t);
+  blitMain(t);
+  if(t>=dur-0.05){ vids.forEach(v=>{ try{v.currentTime=0;}catch(e){} }); updateUI(0); }
+  raf=requestAnimationFrame(tick);
+}
+/* draw the main (head_fisheye) frame + projected hand skeleton into one canvas */
+function blitMain(tArg){
+  const c=document.getElementById('mainc'); if(!c||!master) return;
+  const g=c.getContext('2d'), W=c.width, H=c.height;
+  g.fillStyle='#000'; g.fillRect(0,0,W,H);
+  try{ if(master.readyState>=2) g.drawImage(master,0,0,W,H); }catch(e){}
+  const ck=document.getElementById('ovck');
+  if(!ck || !ck.checked || !SIG || !SIG.headCam || !SIG.cam) return;
+  const t=(typeof tArg==='number')?tArg:master.currentTime, hc=headCamAt(t);
+  [['L','#ff4757'],['R','#2ed573']].forEach(([side,col])=>{
+    const hd=handAt(side,t); if(!hd) return;
+    const uv=hd.pts.map(p=>projPoint(p,hc));
+    if(uv.some(p=>p[2]<=0)) return;
+    g.globalAlpha=hd.valid>0.5?0.95:0.35; g.strokeStyle=col; g.fillStyle=col; g.lineWidth=2;
+    HB.forEach(([a,b])=>{ g.beginPath(); g.moveTo(uv[a][0]*W,uv[a][1]*H); g.lineTo(uv[b][0]*W,uv[b][1]*H); g.stroke(); });
+    uv.forEach((p,k)=>{ g.beginPath(); g.arc(p[0]*W,p[1]*H,k===0?3.5:2.2,0,7); g.fill(); });
+  });
+  g.globalAlpha=1;
+}
+function curSpan(t){ const s=EP.segments; for(let i=0;i<s.length;i++) if(t>=s[i].ts && t<s[i].te) return i; return -1; }
+
+function updateUI(t){
+  const dur=EP.duration, segs=EP.segments;
+  document.getElementById('seek').value = t/dur*1000;
+  document.getElementById('tlab').textContent = fmt(t)+' / '+fmt(dur);
+  document.getElementById('roT').textContent = t.toFixed(2)+'s';
+  const ci=curSpan(t);
+  document.getElementById('roSk').textContent = ci>=0?segs[ci].skill:'–';
+  document.getElementById('roSp').textContent = ci>=0?`${ci+1} / ${segs.length}`:'–';
+  document.querySelectorAll('#slist .si').forEach((el,k)=>el.classList.toggle('on',k===ci));
+  document.querySelectorAll('#chips .chip').forEach((el,k)=>el.classList.toggle('on',k===ci));
+  if(SIG){
+    const j=Math.min(SIG.n-1, Math.round(t*SIG.fps));
+    const gx=SIG.headImu.gyro[j], ax=SIG.headImu.acc[j];
+    document.getElementById('roW').textContent = Math.hypot(gx[0],gx[1],gx[2]).toFixed(2)+' rad/s';
+    document.getElementById('roA').textContent = Math.hypot(ax[0],ax[1],ax[2]).toFixed(2)+' m/s²';
+    document.getElementById('roHv').textContent = SIG.handL.valid[j].toFixed(0)+' / '+SIG.handR.valid[j].toFixed(0);
+    drawHand(t); drawHead(j); drawPlayheads(t);
+  }
+}
+
+/* ---------- 3D canvases ---------- */
+function bindOrbit(id,st){
+  const c=document.getElementById(id); if(!c) return;
+  let px,py;
+  c.onmousedown=e=>{ st.drag=1; px=e.clientX; py=e.clientY; c.style.cursor='grabbing'; };
+  window.addEventListener('mousemove',e=>{ if(!st.drag) return;
+    st.yaw+=(e.clientX-px)*0.01; st.pitch+=(e.clientY-py)*0.01; px=e.clientX; py=e.clientY;
+    if(SIG){ const j=Math.min(SIG.n-1,Math.round(master.currentTime*SIG.fps)); if(id==='cHand')drawHand(master.currentTime); else drawHead(j); }
+  });
+  window.addEventListener('mouseup',()=>{ st.drag=0; c.style.cursor='grab'; });
+}
+function proj(p,st,cx,cy,sc){
+  const cy_=Math.cos(st.yaw),sy=Math.sin(st.yaw),cp=Math.cos(st.pitch),sp=Math.sin(st.pitch);
+  let x=p[0]*cy_+p[2]*sy, z=-p[0]*sy+p[2]*cy_, y=p[1]*cp - z*sp;
+  return [cx+x*sc, cy+y*sc];
+}
+const HB=[[0,1],[1,2],[2,3],[3,4],[0,5],[5,6],[6,7],[7,8],[0,9],[9,10],[10,11],[11,12],[0,13],[13,14],[14,15],[15,16],[0,17],[17,18],[18,19],[19,20],[5,9],[9,13],[13,17]];
+function handOk(H){ return H && H.some(p=>Math.abs(p[0])+Math.abs(p[1])+Math.abs(p[2])>1e-4); }
+const AXR=['#ff0000','#00ff00','#0000ff'];  // three.js AxesHelper colours (HF ego style)
+
+/* Fixed scene fit for a 3D panel — computed ONCE per episode over the whole
+   trajectory so the grid / camera stay put and only the skeleton moves. */
+function bboxFit(pts){
+  if(!pts.length) return {ctr:[0,0,0], span:0.3, halfY:0.15};
+  const qt=(arr,f)=>{ const s=arr.slice().sort((a,b)=>a-b);
+    return s[Math.min(s.length-1, Math.max(0, Math.round(f*(s.length-1))))]; };
+  const mn=[0,0,0], mx=[0,0,0];
+  for(let k=0;k<3;k++){ const col=pts.map(p=>p[k]); mn[k]=qt(col,0.02); mx[k]=qt(col,0.98); }
+  const ctr=[(mn[0]+mx[0])/2,(mn[1]+mx[1])/2,(mn[2]+mx[2])/2];
+  const span=Math.max(mx[0]-mn[0],mx[1]-mn[1],mx[2]-mn[2])||0.3;
+  return {ctr, span, halfY:(mx[1]-ctr[1])||0.15};
+}
+/* Fixed reference camera: transforms world points into a head_fisheye-aligned frame
+   (X right, Y down, Z forward) using a representative mid-episode head pose, so both
+   3D panels are seen from roughly the main camera's angle and the grid stays put. */
+function refCam(){
+  if(SIG._rc) return SIG._rc;
+  const hc=SIG.headCam, N=SIG.n;
+  const mp=[0,1,2].map(k=>{ const v=hc.pos.map(p=>p[k]).slice().sort((a,b)=>a-b); return v[N>>1]; });
+  let bi=0,bd=1e18;
+  for(let j=0;j<N;j++){ const p=hc.pos[j];
+    const d=(p[0]-mp[0])**2+(p[1]-mp[1])**2+(p[2]-mp[2])**2; if(d<bd){bd=d;bi=j;} }
+  const q=hc.quat[bi];
+  return (SIG._rc={pos:mp, R:q2R([-q[0],-q[1],-q[2],q[3]])});   // R = cam_from_world
+}
+function toRefCam(P){ const r=refCam(), d=[P[0]-r.pos[0],P[1]-r.pos[1],P[2]-r.pos[2]];
+  return [r.R[0][0]*d[0]+r.R[0][1]*d[1]+r.R[0][2]*d[2],
+          r.R[1][0]*d[0]+r.R[1][1]*d[1]+r.R[1][2]*d[2],
+          r.R[2][0]*d[0]+r.R[2][1]*d[1]+r.R[2][2]*d[2]]; }
+function rotRefCam(v){ const R=refCam().R;
+  return [R[0][0]*v[0]+R[0][1]*v[1]+R[0][2]*v[2],
+          R[1][0]*v[0]+R[1][1]*v[1]+R[1][2]*v[2],
+          R[2][0]*v[0]+R[2][1]*v[1]+R[2][2]*v[2]]; }
+function handFit(){
+  if(SIG._hf) return SIG._hf;
+  const wr=[];  // wrist keypoint only (21-pt track too noisy), in the ref-cam frame
+  for(let j=0;j<SIG.n;j++)
+    for(const side of ['L','R']){ const P=SIG['hand'+side].pos[j];
+      if(handOk(P)) wr.push(toRefCam(P[0])); }
+  const f = bboxFit(wr.length?wr:[[0,0,0.4],[0.1,0.1,0.5]]);
+  f.span = Math.max(Math.min(f.span,0.42) + 0.06, 0.24);  // clamp — 21pt track jitter inflates the bbox
+  return (SIG._hf = f);
+}
+function headFit(){
+  if(SIG._pf) return SIG._pf;
+  const all=[];
+  for(let j=0;j<SIG.n;j++) all.push(toRefCam(SIG.headPose.pos[j]));
+  const f=bboxFit(all); f.span=Math.max(f.span,0.12);
+  return (SIG._pf = f);
+}
+/* fixed ground grid — explicit size / floor so it matches the PICO ego framing */
+function drawGrid(g,sc,orb,w,h,fy,size){
+  const half=size/2, div=12;
+  const P=q=>proj(q,orb,w/2,h/2,sc);
+  g.lineWidth=1;
+  for(let i=0;i<=div;i++){
+    const v=-half+size*i/div;
+    g.strokeStyle=(Math.abs(v)<1e-6)?'#4da6ff':'#232a3b';
+    let A=P([v,fy,-half]),B=P([v,fy,half]);
+    g.beginPath();g.moveTo(A[0],A[1]);g.lineTo(B[0],B[1]);g.stroke();
+    A=P([-half,fy,v]);B=P([half,fy,v]);
+    g.beginPath();g.moveTo(A[0],A[1]);g.lineTo(B[0],B[1]);g.stroke();
+  }
+  const O=P([0,fy,0]), L=size*0.16;
+  for(let k=0;k<3;k++){ const q=P([k===0?L:0, fy+(k===1?L:0), k===2?L:0]);
+    g.strokeStyle=AXR[k];g.lineWidth=1.5;g.beginPath();g.moveTo(O[0],O[1]);g.lineTo(q[0],q[1]);g.stroke(); }
+}
+/* 3D hand panel — head_fisheye-aligned reference frame, fixed grid, hands move */
+function drawHand(t){
+  const c=document.getElementById('cHand'); if(!c||!SIG) return;
+  const g=c.getContext('2d'), w=c.width,h=c.height; g.fillStyle='#111116';g.fillRect(0,0,w,h);
+  const fit=handFit(), ctr=fit.ctr;
+  const sc=Math.min(w,h)*1.02/fit.span;
+  drawGrid(g,sc,orbH,w,h, fit.halfY+fit.span*0.10, fit.span*1.4);
+  const P=p=>proj([p[0]-ctr[0],p[1]-ctr[1],p[2]-ctr[2]],orbH,w/2,h/2,sc);
+  const lim=fit.span*2.2;
+  ['L','R'].forEach(side=>{
+    const hd=handAt(side,t); if(!hd) return;
+    const pts=hd.pts.map(toRefCam);
+    const d=Math.hypot(pts[0][0]-ctr[0],pts[0][1]-ctr[1],pts[0][2]-ctr[2]);
+    if(d>lim) return;   // skip garbage frames — wrist implausibly far from the hand region
+    const col=side==='L'?'#ff4757':'#2ed573';
+    g.globalAlpha=hd.valid>0.5?1:0.3; g.strokeStyle=col;g.lineWidth=2;
+    HB.forEach(([a,b])=>{ const pa=P(pts[a]),pb=P(pts[b]); g.beginPath();g.moveTo(pa[0],pa[1]);g.lineTo(pb[0],pb[1]);g.stroke(); });
+    g.fillStyle=col;
+    pts.forEach((p,k)=>{ const q=P(p); g.beginPath();g.arc(q[0],q[1],k===0?3.5:2,0,7);g.fill(); });
+  });
+  g.globalAlpha=1;
+}
+function drawHead(j){
+  const c=document.getElementById('cHead'); if(!c||!SIG) return;
+  const g=c.getContext('2d'), w=c.width,h=c.height; g.fillStyle='#111116';g.fillRect(0,0,w,h);
+  const hp=SIG.headPose.pos;
+  const fit=headFit(), ctr=fit.ctr;
+  const sc=Math.min(w,h)*0.70/fit.span;
+  drawGrid(g,sc,orbP,w,h, fit.halfY+fit.span*0.10, fit.span*1.6);
+  const P=p=>proj([p[0]-ctr[0],p[1]-ctr[1],p[2]-ctr[2]],orbP,w/2,h/2,sc);
+  // head trajectory + orientation gizmo at the current head pose
+  g.strokeStyle='#6ea8ff';g.lineWidth=1.5;g.beginPath();
+  for(let k=0;k<=j;k++){ const q=P(toRefCam(hp[k])); k?g.lineTo(q[0],q[1]):g.moveTo(q[0],q[1]); } g.stroke();
+  const b=toRefCam(hp[j]); const cu=P([b[0]-ctr[0],b[1]-ctr[1],b[2]-ctr[2]]);
+  g.fillStyle='#6ea8ff'; g.beginPath();g.arc(cu[0],cu[1],3.5,0,7);g.fill();
+  const hq=SIG.headPose.quat && SIG.headPose.quat[j];
+  if(hq){ const Rw=q2R(hq), AXL=fit.span*0.5;
+    [0,1,2].forEach(ax=>{ const dir=rotRefCam([Rw[0][ax],Rw[1][ax],Rw[2][ax]]);
+      const p1=P([b[0]+dir[0]*AXL-ctr[0], b[1]+dir[1]*AXL-ctr[1], b[2]+dir[2]*AXL-ctr[2]]);
+      g.strokeStyle=AXR[ax]; g.lineWidth=1.5;
+      g.beginPath();g.moveTo(cu[0],cu[1]);g.lineTo(p1[0],p1[1]);g.stroke(); });
+  }
+}
+
+/* ---------- charts ---------- */
+function sizeCanvases(){
+  document.querySelectorAll('.chp canvas').forEach(c=>{
+    c.width=c.clientWidth*devicePixelRatio; c.height=76*devicePixelRatio;
+    const g=c.getContext('2d'); g.setTransform(1,0,0,1,0,0); g.scale(devicePixelRatio,devicePixelRatio); });
+  ['cHand','cHead'].forEach(id=>{ const c=document.getElementById(id); if(c){ c.width=c.clientWidth; c.height=c.clientHeight; } });
+  const mc=document.getElementById('mainc');
+  if(mc){ const r=mc.getBoundingClientRect(); mc.width=Math.round(r.width*devicePixelRatio); mc.height=Math.round(r.height*devicePixelRatio); }
+}
+window.addEventListener('resize',()=>{ if(EP){ sizeCanvases(); blitMain(); if(SIG){ drawCharts();
+  const j=Math.min(SIG.n-1,Math.round((master?master.currentTime:0)*SIG.fps)); drawHand(master?master.currentTime:0);drawHead(j); } } });
+
+function lineChart(id,series){
+  const c=document.getElementById(id); if(!c||!SIG) return;
+  const g=c.getContext('2d'), w=c.clientWidth, h=76;
+  g.fillStyle='#0b0e13'; g.fillRect(0,0,w,h);
+  let mn=1e9,mx=-1e9;
+  series.forEach(s=>s.data.forEach(v=>{ mn=Math.min(mn,v); mx=Math.max(mx,v); }));
+  if(mn===mx){mn-=1;mx+=1;}
+  const N=SIG.n, X=i=>i/(N-1)*w, Y=v=>h-4-(v-mn)/(mx-mn)*(h-8);
+  g.strokeStyle='#1c2028';g.lineWidth=1;g.beginPath();g.moveTo(0,Y(0));g.lineTo(w,Y(0));g.stroke();
+  series.forEach(s=>{ g.strokeStyle=s.c;g.lineWidth=1;g.beginPath();
+    s.data.forEach((v,i)=>{ i?g.lineTo(X(i),Y(v)):g.moveTo(X(i),Y(v)); }); g.stroke(); });
+}
+function chartSeries(){
+  const gc=k=>SIG.headImu.gyro.map(r=>r[k]);
+  const ac=k=>SIG.headImu.acc.map(r=>r[k]);
+  const spd=arr=>arr.map((p,i)=>{ if(i===0)return 0; const q=arr[i-1];
+    return Math.hypot(p[0]-q[0],p[1]-q[1],p[2]-q[2])*SIG.fps; });
+  const nc=k=>(SIG.headImu.angle||[]).map(r=>r[k]);
+  return {
+    chG:[{data:gc(0),c:AX.x},{data:gc(1),c:AX.y},{data:gc(2),c:AX.z}],
+    chA:[{data:ac(0),c:AX.x},{data:ac(1),c:AX.y},{data:ac(2),c:AX.z}],
+    chN:[{data:nc(0),c:AX.x},{data:nc(1),c:AX.y},{data:nc(2),c:AX.z}],
+    chS:[{data:spd(SIG.leftEnd.pos),c:'#ff4757'},{data:spd(SIG.rightEnd.pos),c:'#2ed573'}]
+  };
+}
+const CHIDS=['chG','chA','chN','chS'];
+function drawCharts(){ if(!SIG) return; const S=chartSeries();
+  CHIDS.forEach(id=>lineChart(id,S[id]));
+  drawPlayheads(master?master.currentTime:0); }
+function drawPlayheads(t){
+  if(!SIG) return; const S=chartSeries();
+  CHIDS.forEach(id=>lineChart(id,S[id]));
+  const frac=t/EP.duration;
+  CHIDS.forEach(id=>{ const c=document.getElementById(id); if(!c) return;
+    const g=c.getContext('2d'); g.strokeStyle='#fff';g.globalAlpha=.5;g.lineWidth=1;
+    g.beginPath();g.moveTo(frac*c.clientWidth,0);g.lineTo(frac*c.clientWidth,76);g.stroke();g.globalAlpha=1; });
+}
+
+/* ---------- hand -> head_fisheye projection (per-frame world->camera, ~11px) ---------- */
+function q2R(q){ // xyzw (row-major 3x3)
+  const n=Math.hypot(q[0],q[1],q[2],q[3])||1, x=q[0]/n,y=q[1]/n,z=q[2]/n,w=q[3]/n;
+  return [[1-2*(y*y+z*z),2*(x*y-z*w),2*(x*z+y*w)],
+          [2*(x*y+z*w),1-2*(x*x+z*z),2*(y*z-x*w)],
+          [2*(x*z-y*w),2*(y*z+x*w),1-2*(x*x+y*y)]];
+}
+function eulR(e){ const [a,b,c]=e;
+  const ca=Math.cos(a),sa=Math.sin(a),cb=Math.cos(b),sb=Math.sin(b),cc=Math.cos(c),sc=Math.sin(c);
+  const Rx=[[1,0,0],[0,ca,-sa],[0,sa,ca]], Ry=[[cb,0,sb],[0,1,0],[-sb,0,cb]], Rz=[[cc,-sc,0],[sc,cc,0],[0,0,1]];
+  const mm=(A,B)=>A.map(r=>B[0].map((_,j)=>r[0]*B[0][j]+r[1]*B[1][j]+r[2]*B[2][j]));
+  return mm(mm(Rz,Ry),Rx);
+}
+const Rcorr=eulR(CAL.euler);
+const mv=(R,v)=>[R[0][0]*v[0]+R[0][1]*v[1]+R[0][2]*v[2],
+                 R[1][0]*v[0]+R[1][1]*v[1]+R[1][2]*v[2],
+                 R[2][0]*v[0]+R[2][1]*v[1]+R[2][2]*v[2]];
+/* ---- fractional-time interpolation (smooths the overlay, removes stepping/lag) ---- */
+function sfrac(t){ const x=Math.max(0,Math.min(SIG.n-1.0001, t*SIG.fps));
+  const j0=Math.floor(x); return [j0, Math.min(SIG.n-1,j0+1), x-j0]; }
+function lerpV(A,B,a){ return [A[0]+(B[0]-A[0])*a, A[1]+(B[1]-A[1])*a, A[2]+(B[2]-A[2])*a]; }
+function nlerpQ(qa,qb,a){ const s=(qa[0]*qb[0]+qa[1]*qb[1]+qa[2]*qb[2]+qa[3]*qb[3])<0?-1:1;
+  const q=[qa[0]+(s*qb[0]-qa[0])*a, qa[1]+(s*qb[1]-qa[1])*a, qa[2]+(s*qb[2]-qa[2])*a, qa[3]+(s*qb[3]-qa[3])*a];
+  const n=Math.hypot(q[0],q[1],q[2],q[3])||1; return [q[0]/n,q[1]/n,q[2]/n,q[3]/n]; }
+function headCamAt(t){ const [j0,j1,a]=sfrac(t+(CAL.dt||0)); const h=SIG.headCam;
+  return {pos:lerpV(h.pos[j0],h.pos[j1],a), quat:nlerpQ(h.quat[j0],h.quat[j1],a)}; }
+/* triangular-weighted window on one keypoint around fractional index x — kills jitter, minimal lag */
+function smoothKp(pos,x,W,k){
+  const n=pos.length, i0=Math.max(0,Math.ceil(x-W)), i1=Math.min(n-1,Math.floor(x+W));
+  const S=[];
+  for(let i=i0;i<=i1;i++){ const p=pos[i][k];
+    if(Math.abs(p[0])+Math.abs(p[1])+Math.abs(p[2])<1e-4) continue;
+    S.push({i,p}); }
+  if(!S.length) return null;
+  const med=[0,1,2].map(a=>{ const v=S.map(s=>s.p[a]).sort((x,y)=>x-y); return v[v.length>>1]; });
+  let sw=0; const acc=[0,0,0];
+  for(const s of S){ const p=s.p;
+    if(Math.hypot(p[0]-med[0],p[1]-med[1],p[2]-med[2])>0.12) continue;   // reject outlier sample
+    const wt=1-Math.abs(s.i-x)/(W+1); if(wt<=0) continue;
+    acc[0]+=p[0]*wt; acc[1]+=p[1]*wt; acc[2]+=p[2]*wt; sw+=wt; }
+  return sw>0 ? [acc[0]/sw,acc[1]/sw,acc[2]/sw] : med;
+}
+function handAt(side,t){ const [j0,j1,a]=sfrac(t); const H=SIG['hand'+side];
+  if(!(handOk(H.pos[j0])||handOk(H.pos[j1]))) return null;
+  const x=Math.max(0,Math.min(SIG.n-1.0001, t*SIG.fps)), W=CAL.smoothW||0;
+  let pts;
+  if(W>0){ pts=[]; for(let k=0;k<21;k++){ const p=smoothKp(H.pos,x,W,k); if(!p){ pts=null; break; } pts.push(p); } }
+  if(!pts){ const A=H.pos[j0],B=H.pos[j1]; pts=(handOk(A)&&handOk(B))?A.map((p,i)=>lerpV(p,B[i],a)):(handOk(A)?A:B); }
+  return {pts, valid: H.valid[j0]+(H.valid[j1]-H.valid[j0])*a};
+}
+/* world keypoint -> head_fisheye camera frame (X right, Y down, Z fwd), pre-projection */
+function toFisheye(P,hc){
+  const cam=SIG.cam;
+  const Rwc=q2R([-hc.quat[0],-hc.quat[1],-hc.quat[2],hc.quat[3]]);   // cam_from_world
+  const o=hc.pos;
+  const c=mv(Rwc,[P[0]-o[0],P[1]-o[1],P[2]-o[2]]);            // -> left-optical
+  const Rex=q2R(cam.qex), tex=cam.tex;
+  let f=mv(Rex,c); f=[f[0]+tex[0],f[1]+tex[1],f[2]+tex[2]];    // -> fisheye
+  let g=mv(Rcorr,[f[0]*CAL.s,f[1]*CAL.s,f[2]*CAL.s]);
+  return [g[0]+CAL.t[0],g[1]+CAL.t[1],g[2]+CAL.t[2]];          // correction
+}
+function projPoint(P,hc){                // -> normalized pixel [u,v] + Z
+  const g=toFisheye(P,hc), K=SIG.cam.K, X=g[0],Y=g[1],Z=g[2];
+  const r=Math.hypot(X,Y)+1e-9, th=Math.atan2(r,Z), t2=th*th;
+  const thd=th*(1+K.k1*t2+K.k2*t2*t2+K.k3*t2*t2*t2+K.k4*t2*t2*t2*t2);
+  return [(K.Fx*thd*X/r+K.Cx)/CAL.W, (K.Fy*thd*Y/r+K.Cy)/CAL.H, Z];
+}
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