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"reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2047, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts grip on the orange block on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the orange block off the table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns and attaches the orange block to the top of the combined green and blue blocks."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place: Right hand places the blue building block onto the top of the green building block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release_retreat: Right hand releases the blue building block and moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2384, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: return_home: Right hand moves upward and backward with empty posture to its initial position."}, {"label": "home", "start_step": 2407, "end_step": 2451, "id": "Ok_6uClu-3nNYlDsoRsnU"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward and backward with empty posture to its initial position. | Right hand: return_home: Right hand moves upward and backward with empty posture to its initial position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and toward the upper left direction above the black table, remains empty without touching any objects. | Right hand: reach: Right hand moves upward and toward the upper right direction above the black table, remains empty without touching any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves downward and leftward toward the small green cube on the table."}, {"label": "subtasks", "start_step": 135, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand adjusts finger positions above the small green cube to prepare for forming a stable grasp."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the small green block on the black table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift_transport: Right hand lifts the small green block off the black table and transports it towards the position near the blue block."}, {"label": "subtasks", "start_step": 375, "end_step": 449, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place: Right hand places the small green block onto the black table near the blue block."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp_release: Right hand grasps the green block on the table and then releases it."}, {"label": "subtasks", "start_step": 488, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: retreat: Right hand moves away from the green block after releasing it."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves toward the green block on the table again."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the small green block on the right part of the table, with fingers adjusting to establish stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 1244, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release: Right hand releases the green block on the table, fingers open to separate from the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves towards the blue block placed on the right side of the green block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps the blue block on the table, fingers close and adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the blue block up from the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: transport: Right hand moves the lifted blue block towards the top of the green block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1559, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand mates the blue building block onto the green building block on the table by pressing downwards to assemble the two blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1874, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: reach: Right hand moves toward the orange block on the table."}, {"label": "subtasks", "start_step": 1905, "end_step": 2047, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: grasp: Right hand grasps and adjusts grip on the orange block on the table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2061, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: lift: Right hand lifts the orange block off the table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: mate: Right hand aligns and attaches the orange block to the top of the combined green and blue blocks."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: place: Right hand places the blue building block onto the top of the green building block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: release_retreat: Right hand releases the blue building block and moves away from the stacked blocks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2384, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper side of the table without moving. | Right hand: return_home: Right hand moves upward and backward with empty posture to its initial position."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand moves upward and backward with empty posture to its initial position. | Right hand: return_home: Right hand moves upward and backward with empty posture to its initial position."}], "episode_index": 6}
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"start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes fingers around the small light green block on the black table surface, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand moves upward while holding the small light green block, beginning to raise the block off the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the small light green block on the dark flat surface, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand holds the secured small light green block and moves it upward, lifting the block away from the dark supporting surface."}, {"label": "subtasks", "start_step": 285, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand makes continuous small adjustments to finger positions and wrist angle to secure and align the small light green block above the longer light green block."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand lowers the small light green block onto the surface of the longer light green block and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 495, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: release: Right hand gradually opens its fingers to release the small light green block placed on the dark gray table surface, fully separating from the block by the end of this segment."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves its empty fingers slightly upward to a nearby position above the light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 764, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach_grasp: Right hand moves leftward toward the blue building block on the dark table surface, adjusting finger positions around the block to establish a grasp."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the blue block partially resting on the green block to form a stable grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the blue block completely off the supporting surface and moves it to the right to a position above the green block."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand lowers the blue block downward onto the right section of the green block until the block is fully supported by the green block."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: hold: Right hand holds the blue block steadily on the right section of the green block without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand maintains contact with the surface of the blue building block, applying pressure with small fine adjustments of the finger."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand lifts upward, moving away from the building blocks as an empty hand to retreat from the operation area."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the orange block on the dark flat surface with spread fingers, approaching the block without establishing stable contact."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its thumb and fingers around the orange block, making slight adjustments to finger positions to form a stable grip while the block stays on the dark surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the gripped orange block off the dark surface, then moves the block leftward toward the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand moves the gripped orange block downward, placing it onto the top surface of the stacked green and blue blocks until the block is supported by the green block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand adjusts the position of the orange block on top of the stacked blocks, presses it to sit stably on the stack, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the top surface of the orange block with its index finger extended, without contacting the block during this period."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand presses vertically downward on the top surface of the orange block with its extended index finger, applying downward pressure to the stacked block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves upward away from the stacked blocks, remaining empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position. | Right hand: return_home: Right hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position."}, {"label": "home", "start_step": 1432, "end_step": 1476, "id": "o-yh7Uwbn5r92mCHXBLAn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves from the initial upper right position, first shifting slightly upward before moving downward toward the building blocks on the table, briefly making contact with the orange block before adjusting direction to approach the small light green block, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes fingers around the small light green block on the black table surface, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand moves upward while holding the small light green block, beginning to raise the block off the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the small light green block on the dark flat surface, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand holds the secured small light green block and moves it upward, lifting the block away from the dark supporting surface."}, {"label": "subtasks", "start_step": 285, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand makes continuous small adjustments to finger positions and wrist angle to secure and align the small light green block above the longer light green block."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand lowers the small light green block onto the surface of the longer light green block and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 495, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: release: Right hand gradually opens its fingers to release the small light green block placed on the dark gray table surface, fully separating from the block by the end of this segment."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves its empty fingers slightly upward to a nearby position above the light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 764, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach_grasp: Right hand moves leftward toward the blue building block on the dark table surface, adjusting finger positions around the block to establish a grasp."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the blue block partially resting on the green block to form a stable grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the blue block completely off the supporting surface and moves it to the right to a position above the green block."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand lowers the blue block downward onto the right section of the green block until the block is fully supported by the green block."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: hold: Right hand holds the blue block steadily on the right section of the green block without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand maintains contact with the surface of the blue building block, applying pressure with small fine adjustments of the finger."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand lifts upward, moving away from the building blocks as an empty hand to retreat from the operation area."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the orange block on the dark flat surface with spread fingers, approaching the block without establishing stable contact."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its thumb and fingers around the orange block, making slight adjustments to finger positions to form a stable grip while the block stays on the dark surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the gripped orange block off the dark surface, then moves the block leftward toward the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand moves the gripped orange block downward, placing it onto the top surface of the stacked green and blue blocks until the block is supported by the green block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand adjusts the position of the orange block on top of the stacked blocks, presses it to sit stably on the stack, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the top surface of the orange block with its index finger extended, without contacting the block during this period."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand presses vertically downward on the top surface of the orange block with its extended index finger, applying downward pressure to the stacked block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves upward away from the stacked blocks, remaining empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position. | Right hand: return_home: Right hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position."}], "episode_index": 20}
+{"source_uid": "f08492cf3f3a780f", "num_frames": 1691, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 333, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 334, "end_step": 794, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 795, "end_step": 1206, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1626, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 333, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 334, "end_step": 794, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 795, "end_step": 1206, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1207, "end_step": 1626, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_14_24_14_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 19, "v40_language_source": "previous_published_lerobot", "episode_index": 21}
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+{"source_uid": "c02f7c3fb7d39c76", "num_frames": 1787, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 384, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 740, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 1243, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1244, "end_step": 1720, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 384, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 385, "end_step": 740, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 741, "end_step": 1243, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1244, "end_step": 1720, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_14_26_24_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 21, "v40_language_source": "previous_published_lerobot", "episode_index": 23}
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transport: Right hand moves the held small green block horizontally to the position above the larger green block."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger green block."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press_release: Right hand presses the small green block to mate with the larger green block and releases its grip on the small green block."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the blue building block placed on the black table."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers around the blue building block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the blue building block up from the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand carries the blue block towards the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: mate: Right hand aligns the blue block with the connection points on the stacked green blocks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press_release: Right hand presses the blue block down onto the stacked green blocks to fix it, and releases its grip on the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the orange building block placed on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers around the orange building block and adjusts grip to stabilize it."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand opens fingers to release the orange building block, which falls onto the table."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the orange building block on the table again."}, {"label": "subtasks", "start_step": 1388, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1709, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press: Right hand presses down on the orange block to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand releases the orange block and moves fingers slightly away from the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press: Right hand touches the orange block again and presses down to confirm it is tightly fitted."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves back to and stops at its initial position above the black table. | Right hand: return_home: Right hand moves back to and stops at its initial position above the black table."}], "episode_index": 51}
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"text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport_place: Right hand transports the blue cubic block leftward above the table and places it on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the 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block off the table and moves it leftward above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the orange cubic block leftward toward the green-blue stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the orange cubic block onto the top of the blue block in the stacked blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the orange cubic block with the blue block below 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the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the small green cubic block onto the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the small green cubic block on the table."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the small green cubic block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the small green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the small green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport_place: Right hand transports the small green cubic block leftward and downward to place it on the larger green block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the larger green block without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the small green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: idle: Right hand remains empty above the green blocks without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand, which is empty, moves toward the blue cubic block on the dark table surface to approach it."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the blue cubic block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the blue cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward from the black table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the blue cubic block rightward above the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the blue cubic block onto the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the blue cubic block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: retreat: Right hand moves upward and rightward away from the blue cubic block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the blue cubic block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport_place: Right hand transports the blue cubic block leftward above the table and places it on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand holds the blue cubic block and mates it against the side of the green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the blue cubic block with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: idle: Right hand remains empty above the table next to the blue block without obvious movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward toward the orange cubic block on the table, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the orange cubic block on the table, with fingers closing to form a grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the orange cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange cubic block off the table and moves it leftward above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the orange cubic block leftward toward the green-blue stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the orange cubic block onto the top of the blue block in the stacked blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the orange cubic block with the blue block below by adjusting its position to align the connecting points."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the orange cubic block downward to fasten it firmly onto the blue block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the orange cubic block on top of the green-blue stacked blocks without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves backward and downward from the upper left position above the building blocks to the left home position, with the wrist rotating slightly and fingers adjusting posture during movement. | Right hand: return_home: Right hand moves backward and downward from the position above the building blocks to the right home position, with the wrist rotating to change hand orientation from fingers pointing downward to fingers pointing upward during movement."}, {"label": "subtasks", "start_step": 1762, "end_step": 1779, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty at the right home position without moving."}], "episode_index": 59}
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grip, slightly tilting and shifting the brick during the adjustment process."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand holds the small single-hole green building block and lifts it upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small single-hole green building block and moves it toward the right area of the table above the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: place: Right hand lowers the small single-hole green building block down to the right area of the black table, making slight positional adjustments until the block is supported by the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts and closes fingers around the small green block on the right side of the black table to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the gripped small green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small green block to the left and downward, moving it above the long green base block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the small green block with the studs on the long green base block and presses down to attach them together."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached small green block."}, {"label": "subtasks", "start_step": 795, "end_step": 989, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger and wrist adjustments while in contact with the green block on the dark flat surface, attempting to form a stable grasp without moving the block from its original position."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves backward away from the green block, with fingers lifted off the block surface, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves toward the blue building block on the black table surface with fingers open, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand closes fingers around the blue building block, adjusting finger positions to form a stable grip on the block which remains on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped blue building block upward, raising the block completely off the table surface to reveal the orange block underneath."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted blue building block horizontally toward the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the blue building block with the green building block, lowering and adjusting the blue block to attach it to the top surface of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger adjustments while contacting the top and side of the green and blue lego block resting on the black surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves upward away from the green and blue lego block, approaching the adjacent orange lego block without touching it."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts finger positions to close around the small orange building block resting on the black table surface, forming a stable grip while the block remains stationary on the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped orange building block vertically upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted orange building block downward and horizontally to position it directly above the stacked green and blue building blocks on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand adjusts the position of the orange building block to align it with the top surface of the green building block, bringing the two blocks into initial contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand applies vertical downward pressure on the orange building block to press it firmly onto the green building block, securing the two blocks together."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens its fingers to release the grasp on the orange building block, beginning to separate from the block surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand presses the top orange building block on the stacked colorful blocks with its index finger, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves upward and backward away from the stacked building blocks, with fingers slightly extended, remaining empty after breaking contact with the block."}, {"label": "home", "start_step": 1663, "end_step": 1711, "id": "Fi_kPH8WV6WJDvItZPX3u"}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_wrist_posture: Left hand remains empty, gradually flexes its fingers from a fully extended upward posture to a loosely bent state, rotates the wrist slightly, and adjusts its position to a raised position on the left side of the workspace. | Right hand: other:adjust_finger_wrist_posture: Right hand remains empty, gradually flexes its fingers from a fully extended upward posture to a loosely bent state, rotates the wrist slightly, and adjusts its position to a raised position on the right side of the workspace, with fingers slightly extended at the final frame."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves downward toward the small green Lego brick resting on the black work surface, with fingers held slightly extended as it approaches the target, without making contact with the brick."}, {"label": "subtasks", "start_step": 120, "end_step": 419, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes contact with the small green Lego brick, fingers gradually close around the brick, with continuous small adjustments of finger positions and wrist angle to secure a stable grip, slightly tilting and shifting the brick during the adjustment process."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand holds the small single-hole green building block and lifts it upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small single-hole green building block and moves it toward the right area of the table above the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: place: Right hand lowers the small single-hole green building block down to the right area of the black table, making slight positional adjustments until the block is supported by the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts and closes fingers around the small green block on the right side of the black table to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the gripped small green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small green block to the left and downward, moving it above the long green base block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the small green block with the studs on the long green base block and presses down to attach them together."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached small green block."}, {"label": "subtasks", "start_step": 795, "end_step": 989, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger and wrist adjustments while in contact with the green block on the dark flat surface, attempting to form a stable grasp without moving the block from its original position."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves backward away from the green block, with fingers lifted off the block surface, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves toward the blue building block on the black table surface with fingers open, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand closes fingers around the blue building block, adjusting finger positions to form a stable grip on the block which remains on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped blue building block upward, raising the block completely off the table surface to reveal the orange block underneath."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted blue building block horizontally toward the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the blue building block with the green building block, lowering and adjusting the blue block to attach it to the top surface of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger adjustments while contacting the top and side of the green and blue lego block resting on the black surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves upward away from the green and blue lego block, approaching the adjacent orange lego block without touching it."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts finger positions to close around the small orange building block resting on the black table surface, forming a stable grip while the block remains stationary on the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped orange building block vertically upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted orange building block downward and horizontally to position it directly above the stacked green and blue building blocks on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand adjusts the position of the orange building block to align it with the top surface of the green building block, bringing the two blocks into initial contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand applies vertical downward pressure on the orange building block to press it firmly onto the green building block, securing the two blocks together."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens its fingers to release the grasp on the orange building block, beginning to separate from the block surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand presses the top orange building block on the stacked colorful blocks with its index finger, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves upward and backward away from the stacked building blocks, with fingers slightly extended, remaining empty after breaking contact with the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position."}], "episode_index": 147}
+{"source_uid": "80314cca5396a35a", "num_frames": 1390, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 252, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 540, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 930, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1314, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 252, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 540, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 930, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1314, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_19_22_20_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 147, "v40_language_source": "previous_published_lerobot", "episode_index": 148}
+{"source_uid": "bc4994a07e9fe31b", "num_frames": 1441, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 612, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1374, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 612, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1374, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_19_24_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 148, "v40_language_source": "previous_published_lerobot", "episode_index": 149}
+{"source_uid": "327d27b539d46eba", "num_frames": 2172, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 2123, "id": "dZfnLwP-eBr50LC9ycRGO"}, {"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions slightly around the small green Lego brick, gradually closes fingers to form a stable grasp on the brick that stays on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand holds the small green block and moves it toward the right side of the black work surface, approaching the position near the small orange block."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand positions the small green block onto the black work surface near the orange block, makes small positional adjustments to set the block upright until it is stably supported by the surface, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward empty, retreating away from the placed green block on the work surface."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with its index finger extended, approaching the small green building block on the dark flat surface without making contact."}, {"label": "subtasks", "start_step": 450, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:poke_adjust_block: Right hand uses its extended index finger to poke, press and nudge the small green building block on the dark flat surface, repeatedly changing the block's orientation between upright and flat and adjusting its horizontal position with small finger movements."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:rest_finger_on_block: Right hand keeps its extended index finger stationary on the small green building block, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 585, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small green building block resting on the black surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand moves upward to lift the grasped small green building block off the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the gripped small green block upward to raise it fully off the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the gripped small green block through the air toward the right area of the table near the orange block."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand lowers the small green block to the black table surface adjacent to the orange block, with fingers opening to release the block as it settles on the surface."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the placed green block with an empty grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward to approach the small green building block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand makes contact with the small green building block, fingers close and perform small adjustments to form a stable grasp on the block while it remains resting on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped small green building block upward slightly to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the grasped small green building block downward, moving it to the position directly above the large green building block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the small green building block to place it onto the top surface of the large green building block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the small orange component on the green building block with fingertips, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves upward and leftward with an empty hand, approaching the blue building block on the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand moves back to the green building block, adjusting finger positions to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: hold_retreat: Right hand maintains stable contact with the green building block without visible movement before lifting slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves toward the blue building block resting on the dark table surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped blue building block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the raised blue building block through the air, moving it to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: mate: Right hand aligns the blue building block with the connection studs on the green building block, making small position adjustments and pressing downward to fit the two blocks together."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens fingers to release the assembled blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves rightward to approach the small orange block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the orange block, making small grip adjustments to form a stable hold while the block stays on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the grasped orange block upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand transports the orange block downward and leftward, positioning it directly above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the orange block to place it onto the top surface of the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses down vertically on the top of the orange block to secure it to the blocks beneath."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens its fingers to release the orange block, breaking contact with the block surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating away from the assembled block stack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the top orange building block stacked on the green block on the black work surface with its index finger, applying downward pressure to secure the blocks."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the stacked building blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2171, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment. | Right hand: return_home: Right hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment."}, {"label": "home", "start_step": 2124, "end_step": 2171, "id": "eHjF4YHfG3aENJUDMNVUe"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions slightly around the small green Lego brick, gradually closes fingers to form a stable grasp on the brick that stays on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand holds the small green block and moves it toward the right side of the black work surface, approaching the position near the small orange block."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand positions the small green block onto the black work surface near the orange block, makes small positional adjustments to set the block upright until it is stably supported by the surface, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward empty, retreating away from the placed green block on the work surface."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with its index finger extended, approaching the small green building block on the dark flat surface without making contact."}, {"label": "subtasks", "start_step": 450, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:poke_adjust_block: Right hand uses its extended index finger to poke, press and nudge the small green building block on the dark flat surface, repeatedly changing the block's orientation between upright and flat and adjusting its horizontal position with small finger movements."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:rest_finger_on_block: Right hand keeps its extended index finger stationary on the small green building block, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 585, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small green building block resting on the black surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand moves upward to lift the grasped small green building block off the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the gripped small green block upward to raise it fully off the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the gripped small green block through the air toward the right area of the table near the orange block."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand lowers the small green block to the black table surface adjacent to the orange block, with fingers opening to release the block as it settles on the surface."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the placed green block with an empty grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward to approach the small green building block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand makes contact with the small green building block, fingers close and perform small adjustments to form a stable grasp on the block while it remains resting on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped small green building block upward slightly to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the grasped small green building block downward, moving it to the position directly above the large green building block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the small green building block to place it onto the top surface of the large green building block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the small orange component on the green building block with fingertips, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves upward and leftward with an empty hand, approaching the blue building block on the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand moves back to the green building block, adjusting finger positions to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: hold_retreat: Right hand maintains stable contact with the green building block without visible movement before lifting slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves toward the blue building block resting on the dark table surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped blue building block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the raised blue building block through the air, moving it to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: mate: Right hand aligns the blue building block with the connection studs on the green building block, making small position adjustments and pressing downward to fit the two blocks together."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens fingers to release the assembled blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves rightward to approach the small orange block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the orange block, making small grip adjustments to form a stable hold while the block stays on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the grasped orange block upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand transports the orange block downward and leftward, positioning it directly above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the orange block to place it onto the top surface of the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses down vertically on the top of the orange block to secure it to the blocks beneath."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens its fingers to release the orange block, breaking contact with the block surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating away from the assembled block stack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the top orange building block stacked on the green block on the black work surface with its index finger, applying downward pressure to secure the blocks."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the stacked building blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2171, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment. | Right hand: return_home: Right hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment."}], "episode_index": 150}
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+{"source_uid": "42f88a8ee547692d", "num_frames": 1197, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its initial finger posture in mid-air, with fingers gradually flexing from an extended state and wrist rotating slightly, without contacting any objects on the table. | Right hand: other:adjust_finger_posture: Right hand adjusts its initial finger posture in mid-air, with fingers gradually flexing from an extended state and wrist rotating slightly, without contacting any objects on the table."}, {"label": "valid", "start_step": 0, "end_step": 1155, "id": "QsSAedDEPJeXtKUPZmWFu"}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the upper right area toward the small light green 2x2 block on the dark table, with fingers slightly extended, remaining empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the small light green 2x2 block on the table, making small finger adjustments to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped small light green 2x2 block upward, fully raising the block off the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted small light green 2x2 block horizontally across the space above the table, moving it to a position directly over the large green 2x4 block."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand begins lowering the grasped small light green 2x2 block toward the surface of the large green 2x4 block below it."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the small green block, shifting it slightly to align its connection points with the large green block below."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press_release: Right hand applies downward pressure on the small green block to lock the connection, fingers opening to release the assembled blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the assembled green blocks, remaining empty during movement."}, {"label": "subtasks", "start_step": 360, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach_press: Right hand moves down to contact the top of the assembled blocks, applying steady downward pressure to reinforce the connection."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the green blocks, staying empty as it retreats from the operation area."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves toward the blue building block resting on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the blue building block, making small adjustments to finger positions and wrist angle to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped blue building block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted blue building block, moving it horizontally to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand lowers the blue building block downward, placing it onto the top surface of the green building block until the blue block is supported by the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the blue lego block, moves it downward toward the green lego block on the table, makes slight positional adjustments to align and attach the blue block to the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled blue and green lego blocks on the table without visible movement."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release_retreat: Right hand opens its fingers to release the blue lego block while moving upward away from the assembled blocks."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the orange block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting finger positions to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped orange block completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand holds the orange lego block and moves downward to place it on top of the stacked green and blue lego blocks on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the orange lego block vertically downward to fasten it to the underlying green lego block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the orange lego block, separating fully from the block surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and backward away from the stacked lego blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1196, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position. | Right hand: return_home: Right hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position."}, {"label": "home", "start_step": 1156, "end_step": 1196, "id": "BWBH8CQUVGElQ6zLsxQD5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its initial finger posture in mid-air, with fingers gradually flexing from an extended state and wrist rotating slightly, without contacting any objects on the table. | Right hand: other:adjust_finger_posture: Right hand adjusts its initial finger posture in mid-air, with fingers gradually flexing from an extended state and wrist rotating slightly, without contacting any objects on the table."}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the upper right area toward the small light green 2x2 block on the dark table, with fingers slightly extended, remaining empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the small light green 2x2 block on the table, making small finger adjustments to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped small light green 2x2 block upward, fully raising the block off the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted small light green 2x2 block horizontally across the space above the table, moving it to a position directly over the large green 2x4 block."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand begins lowering the grasped small light green 2x2 block toward the surface of the large green 2x4 block below it."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the small green block, shifting it slightly to align its connection points with the large green block below."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press_release: Right hand applies downward pressure on the small green block to lock the connection, fingers opening to release the assembled blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the assembled green blocks, remaining empty during movement."}, {"label": "subtasks", "start_step": 360, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach_press: Right hand moves down to contact the top of the assembled blocks, applying steady downward pressure to reinforce the connection."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the green blocks, staying empty as it retreats from the operation area."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves toward the blue building block resting on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the blue building block, making small adjustments to finger positions and wrist angle to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped blue building block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted blue building block, moving it horizontally to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand lowers the blue building block downward, placing it onto the top surface of the green building block until the blue block is supported by the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the blue lego block, moves it downward toward the green lego block on the table, makes slight positional adjustments to align and attach the blue block to the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled blue and green lego blocks on the table without visible movement."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release_retreat: Right hand opens its fingers to release the blue lego block while moving upward away from the assembled blocks."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the orange block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting finger positions to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped orange block completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand holds the orange lego block and moves downward to place it on top of the stacked green and blue lego blocks on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the orange lego block vertically downward to fasten it to the underlying green lego block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the orange lego block, separating fully from the block surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and backward away from the stacked lego blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1196, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position. | Right hand: return_home: Right hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position."}], "episode_index": 193}
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5ffeecaf07908e28a9337202e738c5d90128a3d1
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,196 @@
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+{"source_uid": "277e3a86039d334a", "num_frames": 1477, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves from the initial upper right position, first shifting slightly upward before moving downward toward the building blocks on the table, briefly making contact with the orange block before adjusting direction to approach the small light green block, with fingers held in a slightly extended posture."}, {"label": "valid", "start_step": 0, "end_step": 1431, "id": "0OAk8rAQgv2ZPSQ6AHKaZ"}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes fingers around the small light green block on the black table surface, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand moves upward while holding the small light green block, beginning to raise the block off the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the small light green block on the dark flat surface, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand holds the secured small light green block and moves it upward, lifting the block away from the dark supporting surface."}, {"label": "subtasks", "start_step": 285, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand makes continuous small adjustments to finger positions and wrist angle to secure and align the small light green block above the longer light green block."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand lowers the small light green block onto the surface of the longer light green block and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 495, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: release: Right hand gradually opens its fingers to release the small light green block placed on the dark gray table surface, fully separating from the block by the end of this segment."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves its empty fingers slightly upward to a nearby position above the light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 764, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach_grasp: Right hand moves leftward toward the blue building block on the dark table surface, adjusting finger positions around the block to establish a grasp."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the blue block partially resting on the green block to form a stable grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the blue block completely off the supporting surface and moves it to the right to a position above the green block."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand lowers the blue block downward onto the right section of the green block until the block is fully supported by the green block."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: hold: Right hand holds the blue block steadily on the right section of the green block without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand maintains contact with the surface of the blue building block, applying pressure with small fine adjustments of the finger."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand lifts upward, moving away from the building blocks as an empty hand to retreat from the operation area."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the orange block on the dark flat surface with spread fingers, approaching the block without establishing stable contact."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its thumb and fingers around the orange block, making slight adjustments to finger positions to form a stable grip while the block stays on the dark surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the gripped orange block off the dark surface, then moves the block leftward toward the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand moves the gripped orange block downward, placing it onto the top surface of the stacked green and blue blocks until the block is supported by the green block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand adjusts the position of the orange block on top of the stacked blocks, presses it to sit stably on the stack, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the top surface of the orange block with its index finger extended, without contacting the block during this period."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand presses vertically downward on the top surface of the orange block with its extended index finger, applying downward pressure to the stacked block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves upward away from the stacked blocks, remaining empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position. | Right hand: return_home: Right hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position."}, {"label": "home", "start_step": 1432, "end_step": 1476, "id": "o-yh7Uwbn5r92mCHXBLAn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 164, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves from the initial upper right position, first shifting slightly upward before moving downward toward the building blocks on the table, briefly making contact with the orange block before adjusting direction to approach the small light green block, with fingers held in a slightly extended posture."}, {"label": "subtasks", "start_step": 165, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes fingers around the small light green block on the black table surface, making small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand moves upward while holding the small light green block, beginning to raise the block off the black table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the small light green block on the dark flat surface, making slight grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift: Right hand holds the secured small light green block and moves it upward, lifting the block away from the dark supporting surface."}, {"label": "subtasks", "start_step": 285, "end_step": 479, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand makes continuous small adjustments to finger positions and wrist angle to secure and align the small light green block above the longer light green block."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand lowers the small light green block onto the surface of the longer light green block and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 495, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: release: Right hand gradually opens its fingers to release the small light green block placed on the dark gray table surface, fully separating from the block by the end of this segment."}, {"label": "subtasks", "start_step": 600, "end_step": 614, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves its empty fingers slightly upward to a nearby position above the light green block."}, {"label": "subtasks", "start_step": 615, "end_step": 764, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach_grasp: Right hand moves leftward toward the blue building block on the dark table surface, adjusting finger positions around the block to establish a grasp."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its fingers around the blue block partially resting on the green block to form a stable grip."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the blue block completely off the supporting surface and moves it to the right to a position above the green block."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand lowers the blue block downward onto the right section of the green block until the block is fully supported by the green block."}, {"label": "subtasks", "start_step": 848, "end_step": 899, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: hold: Right hand holds the blue block steadily on the right section of the green block without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand maintains contact with the surface of the blue building block, applying pressure with small fine adjustments of the finger."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand lifts upward, moving away from the building blocks as an empty hand to retreat from the operation area."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the orange block on the dark flat surface with spread fingers, approaching the block without establishing stable contact."}, {"label": "subtasks", "start_step": 1020, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: grasp: Right hand closes its thumb and fingers around the orange block, making slight adjustments to finger positions to form a stable grip while the block stays on the dark surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: lift_transport: Right hand lifts the gripped orange block off the dark surface, then moves the block leftward toward the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place: Right hand moves the gripped orange block downward, placing it onto the top surface of the stacked green and blue blocks until the block is supported by the green block."}, {"label": "subtasks", "start_step": 1155, "end_step": 1334, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: place_release: Right hand adjusts the position of the orange block on top of the stacked blocks, presses it to sit stably on the stack, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: reach: Right hand moves downward toward the top surface of the orange block with its index finger extended, without contacting the block during this period."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: press: Right hand presses vertically downward on the top surface of the orange block with its extended index finger, applying downward pressure to the stacked block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without contacting any building blocks or making obvious movements. | Right hand: retreat: Right hand moves upward away from the stacked blocks, remaining empty, retreating from the operation position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00025", "text": "Left hand: return_home: Left hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position. | Right hand: return_home: Right hand is empty, moves upward and backward away from the stacked blocks on the table, with fingers gradually extending during movement, and stops steadily at the initial raised home position."}], "episode_index": 20}
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the block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the grasped small green block up from the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand carries the small green block moving rightward above the table."}, {"label": "subtasks", "start_step": 338, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand places the small green block onto the right area of the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand opens fingers to release the small green block, separating from the block."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: retreat: Right hand moves away from the placed small green block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the small green block on the right area of the table."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes its fingers around the small green block, with slight adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the small green block up from the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand transports the small green block towards the left side of the table."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the small green block placed on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand moves the held small green block horizontally to the position above the larger green block."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger green block."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press_release: Right hand presses the small green block to mate with the larger green block and releases its grip on the small green block."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the blue building block placed on the black table."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers around the blue building block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the blue building block up from the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand carries the blue block towards the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: mate: Right hand aligns the blue block with the connection points on the stacked green blocks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press_release: Right hand presses the blue block down onto the stacked green blocks to fix it, and releases its grip on the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the orange building block placed on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers around the orange building block and adjusts grip to stabilize it."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand opens fingers to release the orange building block, which falls onto the table."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the orange building block on the table again."}, {"label": "subtasks", "start_step": 1388, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1709, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press: Right hand presses down on the orange block to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand releases the orange block and moves fingers slightly away from the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press: Right hand touches the orange block again and presses down to confirm it is tightly fitted."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves back to and stops at its initial position above the black table. | Right hand: return_home: Right hand moves back to and stops at its initial position above the black table."}, {"label": "home", "start_step": 1818, "end_step": 1866, "id": "rIwcPgUR_T28czEOX4TQ8"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture above the black table with visible finger and wrist movements. | Right hand: other:adjust_posture: Right hand adjusts its posture above the black table with visible finger and wrist movements."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: other:adjust_posture: Right hand adjusts its posture above the black table with visible finger and wrist movements."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the orange block placed on the black table without touching it."}, {"label": "subtasks", "start_step": 105, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves downward toward the small green building block on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers around the small green building block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the grasped small green block up from the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand carries the small green block moving rightward above the table."}, {"label": "subtasks", "start_step": 338, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand places the small green block onto the right area of the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand opens fingers to release the small green block, separating from the block."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: retreat: Right hand moves away from the placed small green block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the small green block on the right area of the table."}, {"label": "subtasks", "start_step": 480, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes its fingers around the small green block, with slight adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the small green block up from the table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand transports the small green block towards the left side of the table."}, {"label": "subtasks", "start_step": 585, "end_step": 734, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the small green block placed on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the small green block off the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 824, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand moves the held small green block horizontally to the position above the larger green block."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand lowers the small green block onto the top surface of the larger green block."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press_release: Right hand presses the small green block to mate with the larger green block and releases its grip on the small green block."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the blue building block placed on the black table."}, {"label": "subtasks", "start_step": 922, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers around the blue building block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift: Right hand lifts the blue building block up from the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: transport: Right hand carries the blue block towards the top of the stacked green blocks."}, {"label": "subtasks", "start_step": 1042, "end_step": 1117, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: mate: Right hand aligns the blue block with the connection points on the stacked green blocks."}, {"label": "subtasks", "start_step": 1118, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press_release: Right hand presses the blue block down onto the stacked green blocks to fix it, and releases its grip on the block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the orange building block placed on the black table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers around the orange building block and adjusts grip to stabilize it."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand opens fingers to release the orange building block, which falls onto the table."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: reach: Right hand moves towards the orange building block on the table again."}, {"label": "subtasks", "start_step": 1388, "end_step": 1484, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: grasp: Right hand closes fingers to grasp the orange building block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: lift_transport: Right hand lifts the orange block from the table and transports it above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: place: Right hand places the orange block onto the top surface of the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1709, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press: Right hand presses down on the orange block to secure it to the stacked blocks below."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: release: Right hand releases the orange block and moves fingers slightly away from the block."}, {"label": "subtasks", "start_step": 1748, "end_step": 1799, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side above the black table without moving. | Right hand: press: Right hand touches the orange block again and presses down to confirm it is tightly fitted."}, {"label": "subtasks", "start_step": 1800, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: return_home: Left hand moves back to and stops at its initial position above the black table. | Right hand: return_home: Right hand moves back to and stops at its initial position above the black table."}], "episode_index": 51}
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frame without moving. | Right hand: reach: Right hand moves downward toward the building blocks on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward toward the small green cubic block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the small green cubic block on the table with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp_lift: Right hand adjusts its grasp on the small green cubic block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the small green cubic block from the green base block and transports it rightward above the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the small green cubic block onto the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the small green cubic block on the table."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the small green cubic block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the small green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the small green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport_place: Right hand transports the small green cubic block leftward and downward to place it on the larger green block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the larger green block without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the small green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: idle: Right hand remains empty above the green blocks without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand, which is empty, moves toward the blue cubic block on the dark table surface to approach it."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the blue cubic block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the blue cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward from the black table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the blue cubic block rightward above the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the blue cubic block onto the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the blue cubic block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: retreat: Right hand moves upward and rightward away from the blue cubic block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the blue cubic block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport_place: Right hand transports the blue cubic block leftward above the table and places it on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand holds the blue cubic block and mates it against the side of the green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the blue cubic block with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: idle: Right hand remains empty above the table next to the blue block without obvious movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward toward the orange cubic block on the table, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the orange cubic block on the table, with fingers closing to form a grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the orange cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange cubic block off the table and moves it leftward above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the orange cubic block leftward toward the green-blue stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the orange cubic block onto the top of the blue block in the stacked blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the orange cubic block with the blue block below by adjusting its position to align the connecting points."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the orange cubic block downward to fasten it firmly onto the blue block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the orange cubic block on top of the green-blue stacked blocks without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves backward and downward from the upper left position above the building blocks to the left home position, with the wrist rotating slightly and fingers adjusting posture during movement. | Right hand: return_home: Right hand moves backward and downward from the position above the building blocks to the right home position, with the wrist rotating to change hand orientation from fingers pointing downward to fingers pointing upward during movement."}, {"label": "home", "start_step": 1731, "end_step": 1779, "id": "Er6g8tXjrRh4MJ04h7I5O"}, {"label": "subtasks", "start_step": 1762, "end_step": 1779, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty at the right home position without moving."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upward_left: Left hand moves upward and leftward from the lower initial position, with fingers opening and wrist rotating slightly, remaining empty. | Right hand: other:move_upward_left: Right hand moves upward and leftward from the lower initial position, with fingers opening and wrist rotating slightly, remaining empty."}, {"label": "subtasks", "start_step": 60, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward toward the building blocks on the black table surface, remaining empty."}, {"label": "subtasks", "start_step": 90, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward toward the small green cubic block on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the small green cubic block on the table with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 135, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp_lift: Right hand adjusts its grasp on the small green cubic block and lifts it off the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the small green cubic block from the green base block and transports it rightward above the black table surface."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the small green cubic block onto the black table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: retreat: Right hand retreats upward and rightward away from the small green cubic block on the table."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand reaches downward toward the small green cubic block on the table."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the small green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the small green cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport_place: Right hand transports the small green cubic block leftward and downward to place it on the larger green block on the table."}, {"label": "subtasks", "start_step": 540, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the small green cubic block on the larger green block without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the small green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 645, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: idle: Right hand remains empty above the green blocks without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand, which is empty, moves toward the blue cubic block on the dark table surface to approach it."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the blue cubic block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the blue cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward from the black table surface."}, {"label": "subtasks", "start_step": 945, "end_step": 989, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the blue cubic block rightward above the black table surface."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the blue cubic block onto the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the blue cubic block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: retreat: Right hand moves upward and rightward away from the blue cubic block on the table."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward and leftward toward the blue cubic block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1131, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the blue cubic block on the table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift: Right hand lifts the blue cubic block upward off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport_place: Right hand transports the blue cubic block leftward above the table and places it on the table surface."}, {"label": "subtasks", "start_step": 1192, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand holds the blue cubic block and mates it against the side of the green block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: release: Right hand releases the blue cubic block with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: idle: Right hand remains empty above the table next to the blue block without obvious movement."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: reach: Right hand moves downward toward the orange cubic block on the table, with fingers kept slightly open."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: grasp: Right hand grasps the orange cubic block on the table, with fingers closing to form a grip on the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the orange cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: lift_transport: Right hand lifts the orange cubic block off the table and moves it leftward above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: transport: Right hand transports the orange cubic block leftward toward the green-blue stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: place: Right hand places the orange cubic block onto the top of the blue block in the stacked blocks."}, {"label": "subtasks", "start_step": 1560, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: mate: Right hand mates the orange cubic block with the blue block below by adjusting its position to align the connecting points."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: press: Right hand presses the orange cubic block downward to fasten it firmly onto the blue block."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the frame without moving. | Right hand: hold: Right hand holds the orange cubic block on top of the green-blue stacked blocks without moving."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00043", "text": "Left hand: return_home: Left hand moves backward and downward from the upper left position above the building blocks to the left home position, with the wrist rotating slightly and fingers adjusting posture during movement. | Right hand: return_home: Right hand moves backward and downward from the position above the building blocks to the right home position, with the wrist rotating to change hand orientation from fingers pointing downward to fingers pointing upward during movement."}, {"label": "subtasks", "start_step": 1762, "end_step": 1779, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty at the right home position without moving."}], "episode_index": 59}
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grip, slightly tilting and shifting the brick during the adjustment process."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand holds the small single-hole green building block and lifts it upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small single-hole green building block and moves it toward the right area of the table above the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: place: Right hand lowers the small single-hole green building block down to the right area of the black table, making slight positional adjustments until the block is supported by the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts and closes fingers around the small green block on the right side of the black table to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the gripped small green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small green block to the left and downward, moving it above the long green base block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the small green block with the studs on the long green base block and presses down to attach them together."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached small green block."}, {"label": "subtasks", "start_step": 795, "end_step": 989, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger and wrist adjustments while in contact with the green block on the dark flat surface, attempting to form a stable grasp without moving the block from its original position."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves backward away from the green block, with fingers lifted off the block surface, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves toward the blue building block on the black table surface with fingers open, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand closes fingers around the blue building block, adjusting finger positions to form a stable grip on the block which remains on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped blue building block upward, raising the block completely off the table surface to reveal the orange block underneath."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted blue building block horizontally toward the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the blue building block with the green building block, lowering and adjusting the blue block to attach it to the top surface of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger adjustments while contacting the top and side of the green and blue lego block resting on the black surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves upward away from the green and blue lego block, approaching the adjacent orange lego block without touching it."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts finger positions to close around the small orange building block resting on the black table surface, forming a stable grip while the block remains stationary on the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped orange building block vertically upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted orange building block downward and horizontally to position it directly above the stacked green and blue building blocks on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand adjusts the position of the orange building block to align it with the top surface of the green building block, bringing the two blocks into initial contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand applies vertical downward pressure on the orange building block to press it firmly onto the green building block, securing the two blocks together."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens its fingers to release the grasp on the orange building block, beginning to separate from the block surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand presses the top orange building block on the stacked colorful blocks with its index finger, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves upward and backward away from the stacked building blocks, with fingers slightly extended, remaining empty after breaking contact with the block."}, {"label": "home", "start_step": 1663, "end_step": 1711, "id": "Fi_kPH8WV6WJDvItZPX3u"}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_wrist_posture: Left hand remains empty, gradually flexes its fingers from a fully extended upward posture to a loosely bent state, rotates the wrist slightly, and adjusts its position to a raised position on the left side of the workspace. | Right hand: other:adjust_finger_wrist_posture: Right hand remains empty, gradually flexes its fingers from a fully extended upward posture to a loosely bent state, rotates the wrist slightly, and adjusts its position to a raised position on the right side of the workspace, with fingers slightly extended at the final frame."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves downward toward the small green Lego brick resting on the black work surface, with fingers held slightly extended as it approaches the target, without making contact with the brick."}, {"label": "subtasks", "start_step": 120, "end_step": 419, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes contact with the small green Lego brick, fingers gradually close around the brick, with continuous small adjustments of finger positions and wrist angle to secure a stable grip, slightly tilting and shifting the brick during the adjustment process."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand holds the small single-hole green building block and lifts it upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small single-hole green building block and moves it toward the right area of the table above the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 599, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: place: Right hand lowers the small single-hole green building block down to the right area of the black table, making slight positional adjustments until the block is supported by the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts and closes fingers around the small green block on the right side of the black table to form a stable grip."}, {"label": "subtasks", "start_step": 638, "end_step": 651, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the gripped small green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the small green block to the left and downward, moving it above the long green base block on the table."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the small green block with the studs on the long green base block and presses down to attach them together."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached small green block."}, {"label": "subtasks", "start_step": 795, "end_step": 989, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger and wrist adjustments while in contact with the green block on the dark flat surface, attempting to form a stable grasp without moving the block from its original position."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves backward away from the green block, with fingers lifted off the block surface, remaining empty during the movement."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves toward the blue building block on the black table surface with fingers open, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1028, "end_step": 1094, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand closes fingers around the blue building block, adjusting finger positions to form a stable grip on the block which remains on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped blue building block upward, raising the block completely off the table surface to reveal the orange block underneath."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted blue building block horizontally toward the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1148, "end_step": 1221, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand aligns the blue building block with the green building block, lowering and adjusting the blue block to attach it to the top surface of the green block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1244, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens fingers to release the attached blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand makes slight finger adjustments while contacting the top and side of the green and blue lego block resting on the black surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: reach: Right hand moves upward away from the green and blue lego block, approaching the adjacent orange lego block without touching it."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: grasp: Right hand adjusts finger positions to close around the small orange building block resting on the black table surface, forming a stable grip while the block remains stationary on the table."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: lift: Right hand lifts the grasped orange building block vertically upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1461, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: transport: Right hand carries the lifted orange building block downward and horizontally to position it directly above the stacked green and blue building blocks on the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: mate: Right hand adjusts the position of the orange building block to align it with the top surface of the green building block, bringing the two blocks into initial contact."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand applies vertical downward pressure on the orange building block to press it firmly onto the green building block, securing the two blocks together."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: release: Right hand opens its fingers to release the grasp on the orange building block, beginning to separate from the block surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1641, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: press: Right hand presses the top orange building block on the stacked colorful blocks with its index finger, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary in the raised left position with no observable movement across the entire interval. | Right hand: retreat: Right hand moves upward and backward away from the stacked building blocks, with fingers slightly extended, remaining empty after breaking contact with the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00030", "text": "Left hand: return_home: Left hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position. | Right hand: return_home: Right hand remains empty, moves upward and rotates slightly to return to the initial symmetric home position."}], "episode_index": 147}
+{"source_uid": "80314cca5396a35a", "num_frames": 1390, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 252, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 540, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 930, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1314, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 252, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 253, "end_step": 540, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 541, "end_step": 930, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 931, "end_step": 1314, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_19_22_20_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 147, "v40_language_source": "previous_published_lerobot", "episode_index": 148}
+{"source_uid": "bc4994a07e9fe31b", "num_frames": 1441, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 612, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1374, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 246, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 247, "end_step": 612, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 613, "end_step": 1008, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 1009, "end_step": 1374, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_19_24_35_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 148, "v40_language_source": "previous_published_lerobot", "episode_index": 149}
+{"source_uid": "327d27b539d46eba", "num_frames": 2172, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: stack_blocks", "tags": {"task_name": "stack_blocks", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "B", "SOP": ""}, "segments": [{"label": "valid", "start_step": 0, "end_step": 2123, "id": "dZfnLwP-eBr50LC9ycRGO"}, {"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions slightly around the small green Lego brick, gradually closes fingers to form a stable grasp on the brick that stays on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand holds the small green block and moves it toward the right side of the black work surface, approaching the position near the small orange block."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand positions the small green block onto the black work surface near the orange block, makes small positional adjustments to set the block upright until it is stably supported by the surface, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward empty, retreating away from the placed green block on the work surface."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with its index finger extended, approaching the small green building block on the dark flat surface without making contact."}, {"label": "subtasks", "start_step": 450, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:poke_adjust_block: Right hand uses its extended index finger to poke, press and nudge the small green building block on the dark flat surface, repeatedly changing the block's orientation between upright and flat and adjusting its horizontal position with small finger movements."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:rest_finger_on_block: Right hand keeps its extended index finger stationary on the small green building block, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 585, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small green building block resting on the black surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand moves upward to lift the grasped small green building block off the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the gripped small green block upward to raise it fully off the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the gripped small green block through the air toward the right area of the table near the orange block."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand lowers the small green block to the black table surface adjacent to the orange block, with fingers opening to release the block as it settles on the surface."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the placed green block with an empty grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward to approach the small green building block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand makes contact with the small green building block, fingers close and perform small adjustments to form a stable grasp on the block while it remains resting on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped small green building block upward slightly to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the grasped small green building block downward, moving it to the position directly above the large green building block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the small green building block to place it onto the top surface of the large green building block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the small orange component on the green building block with fingertips, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves upward and leftward with an empty hand, approaching the blue building block on the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand moves back to the green building block, adjusting finger positions to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: hold_retreat: Right hand maintains stable contact with the green building block without visible movement before lifting slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves toward the blue building block resting on the dark table surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped blue building block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the raised blue building block through the air, moving it to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: mate: Right hand aligns the blue building block with the connection studs on the green building block, making small position adjustments and pressing downward to fit the two blocks together."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens fingers to release the assembled blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves rightward to approach the small orange block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the orange block, making small grip adjustments to form a stable hold while the block stays on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the grasped orange block upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand transports the orange block downward and leftward, positioning it directly above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the orange block to place it onto the top surface of the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses down vertically on the top of the orange block to secure it to the blocks beneath."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens its fingers to release the orange block, breaking contact with the block surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating away from the assembled block stack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the top orange building block stacked on the green block on the black work surface with its index finger, applying downward pressure to secure the blocks."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the stacked building blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2171, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment. | Right hand: return_home: Right hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment."}, {"label": "home", "start_step": 2124, "end_step": 2171, "id": "eHjF4YHfG3aENJUDMNVUe"}], "language_segments": [{"label": "subtasks", "start_step": 15, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 52, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves slightly downward toward the building blocks on the table with slight finger adjustments, remaining empty and not contacting any object."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with slightly open fingers, approaching the small green Lego brick placed on the black table surface."}, {"label": "subtasks", "start_step": 98, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions slightly around the small green Lego brick, gradually closes fingers to form a stable grasp on the brick that stays on the table."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand holds the small green block and moves it toward the right side of the black work surface, approaching the position near the small orange block."}, {"label": "subtasks", "start_step": 300, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand positions the small green block onto the black work surface near the orange block, makes small positional adjustments to set the block upright until it is stably supported by the surface, and opens fingers to separate from the block."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward empty, retreating away from the placed green block on the work surface."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward with its index finger extended, approaching the small green building block on the dark flat surface without making contact."}, {"label": "subtasks", "start_step": 450, "end_step": 561, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:poke_adjust_block: Right hand uses its extended index finger to poke, press and nudge the small green building block on the dark flat surface, repeatedly changing the block's orientation between upright and flat and adjusting its horizontal position with small finger movements."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: other:rest_finger_on_block: Right hand keeps its extended index finger stationary on the small green building block, with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 585, "end_step": 704, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small green building block resting on the black surface."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand moves upward to lift the grasped small green building block off the black supporting surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the gripped small green block upward to raise it fully off the black table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the gripped small green block through the air toward the right area of the table near the orange block."}, {"label": "subtasks", "start_step": 885, "end_step": 937, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place_release: Right hand lowers the small green block to the black table surface adjacent to the orange block, with fingers opening to release the block as it settles on the surface."}, {"label": "subtasks", "start_step": 938, "end_step": 944, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the placed green block with an empty grasp."}, {"label": "subtasks", "start_step": 945, "end_step": 974, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves downward to approach the small green building block on the black table surface, without making contact with the block."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand makes contact with the small green building block, fingers close and perform small adjustments to form a stable grasp on the block while it remains resting on the table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped small green building block upward slightly to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the grasped small green building block downward, moving it to the position directly above the large green building block on the table."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the small green building block to place it onto the top surface of the large green building block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the small orange component on the green building block with fingertips, applying downward vertical pressure."}, {"label": "subtasks", "start_step": 1185, "end_step": 1237, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves upward and leftward with an empty hand, approaching the blue building block on the dark table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand moves back to the green building block, adjusting finger positions to establish stable contact with the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: hold_retreat: Right hand maintains stable contact with the green building block without visible movement before lifting slightly upward away from the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves toward the blue building block resting on the dark table surface, with fingers held in a slightly open position."}, {"label": "subtasks", "start_step": 1425, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the blue building block, making small grip adjustments to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1478, "end_step": 1491, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the stably grasped blue building block upward until the block is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand carries the raised blue building block through the air, moving it to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 1530, "end_step": 1694, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: mate: Right hand aligns the blue building block with the connection studs on the green building block, making small position adjustments and pressing downward to fit the two blocks together."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens fingers to release the assembled blue building block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: reach: Right hand moves rightward to approach the small orange block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: grasp: Right hand closes fingers around the orange block, making small grip adjustments to form a stable hold while the block stays on the table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: lift: Right hand lifts the grasped orange block upward to fully separate it from the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: transport: Right hand transports the orange block downward and leftward, positioning it directly above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: place: Right hand lowers the orange block to place it onto the top surface of the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 1920, "end_step": 1964, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses down vertically on the top of the orange block to secure it to the blocks beneath."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: release: Right hand opens its fingers to release the orange block, breaking contact with the block surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and rightward while empty, retreating away from the assembled block stack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: press: Right hand presses the top orange building block stacked on the green block on the black work surface with its index finger, applying downward pressure to secure the blocks."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty above the table without moving, not contacting any object. | Right hand: retreat: Right hand moves upward and away from the stacked building blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 2115, "end_step": 2171, "id": "reasoning-language-00042", "text": "Left hand: return_home: Left hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment. | Right hand: return_home: Right hand remains empty, moves upward back to the initial raised home position with fingers extending gradually during movement, and stops at the home position at the end of the segment."}], "episode_index": 150}
+{"source_uid": "c071db0e10827beb", "num_frames": 2579, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 408, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 1248, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 2154, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2155, "end_step": 2502, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 408, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 409, "end_step": 1248, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 1249, "end_step": 2154, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 2155, "end_step": 2502, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_19_28_44_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 149, "v40_language_source": "previous_published_lerobot", "episode_index": 151}
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"id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the upper right area toward the small light green 2x2 block on the dark table, with fingers slightly extended, remaining empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the small light green 2x2 block on the table, making small finger adjustments to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped small light green 2x2 block upward, fully raising the block off the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted small light green 2x2 block horizontally across the space above the table, moving it to a position directly over the large green 2x4 block."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand begins lowering the grasped small light green 2x2 block toward the surface of the large green 2x4 block below it."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the small green block, shifting it slightly to align its connection points with the large green block below."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press_release: Right hand applies downward pressure on the small green block to lock the connection, fingers opening to release the assembled blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the assembled green blocks, remaining empty during movement."}, {"label": "subtasks", "start_step": 360, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach_press: Right hand moves down to contact the top of the assembled blocks, applying steady downward pressure to reinforce the connection."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the green blocks, staying empty as it retreats from the operation area."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves toward the blue building block resting on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the blue building block, making small adjustments to finger positions and wrist angle to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped blue building block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted blue building block, moving it horizontally to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand lowers the blue building block downward, placing it onto the top surface of the green building block until the blue block is supported by the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the blue lego block, moves it downward toward the green lego block on the table, makes slight positional adjustments to align and attach the blue block to the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled blue and green lego blocks on the table without visible movement."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release_retreat: Right hand opens its fingers to release the blue lego block while moving upward away from the assembled blocks."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the orange block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting finger positions to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped orange block completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand holds the orange lego block and moves downward to place it on top of the stacked green and blue lego blocks on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the orange lego block vertically downward to fasten it to the underlying green lego block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the orange lego block, separating fully from the block surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and backward away from the stacked lego blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1196, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position. | Right hand: return_home: Right hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position."}, {"label": "home", "start_step": 1156, "end_step": 1196, "id": "BWBH8CQUVGElQ6zLsxQD5"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_finger_posture: Left hand adjusts its initial finger posture in mid-air, with fingers gradually flexing from an extended state and wrist rotating slightly, without contacting any objects on the table. | Right hand: other:adjust_finger_posture: Right hand adjusts its initial finger posture in mid-air, with fingers gradually flexing from an extended state and wrist rotating slightly, without contacting any objects on the table."}, {"label": "subtasks", "start_step": 60, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward from the upper right area toward the small light green 2x2 block on the dark table, with fingers slightly extended, remaining empty and not yet contacting the block."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes its fingers around the small light green 2x2 block on the table, making small finger adjustments to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped small light green 2x2 block upward, fully raising the block off the dark table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted small light green 2x2 block horizontally across the space above the table, moving it to a position directly over the large green 2x4 block."}, {"label": "subtasks", "start_step": 218, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand begins lowering the grasped small light green 2x2 block toward the surface of the large green 2x4 block below it."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand adjusts finger positions around the small green block, closing fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the small green block, shifting it slightly to align its connection points with the large green block below."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press_release: Right hand applies downward pressure on the small green block to lock the connection, fingers opening to release the assembled blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward away from the assembled green blocks, remaining empty during movement."}, {"label": "subtasks", "start_step": 360, "end_step": 441, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach_press: Right hand moves down to contact the top of the assembled blocks, applying steady downward pressure to reinforce the connection."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and away from the green blocks, staying empty as it retreats from the operation area."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves toward the blue building block resting on the table, with fingers held slightly open."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the blue building block, making small adjustments to finger positions and wrist angle to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand lifts the grasped blue building block upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: transport: Right hand carries the lifted blue building block, moving it horizontally to the position directly above the green building block on the table."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand lowers the blue building block downward, placing it onto the top surface of the green building block until the blue block is supported by the green block."}, {"label": "subtasks", "start_step": 585, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: mate: Right hand holds the blue lego block, moves it downward toward the green lego block on the table, makes slight positional adjustments to align and attach the blue block to the green block."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: hold: Right hand holds the assembled blue and green lego blocks on the table without visible movement."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release_retreat: Right hand opens its fingers to release the blue lego block while moving upward away from the assembled blocks."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: reach: Right hand moves downward toward the orange block on the table surface with fingers open."}, {"label": "subtasks", "start_step": 848, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: grasp: Right hand closes fingers around the orange block, adjusting finger positions to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: lift: Right hand moves upward to lift the grasped orange block completely off the table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: place: Right hand holds the orange lego block and moves downward to place it on top of the stacked green and blue lego blocks on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: press: Right hand presses the top surface of the orange lego block vertically downward to fasten it to the underlying green lego block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: release: Right hand opens its fingers to release the orange lego block, separating fully from the block surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary in the upper left area above the dark table surface, with no observable movement or contact with any objects. | Right hand: retreat: Right hand moves upward and backward away from the stacked lego blocks, retreating from the operation area with an empty hand."}, {"label": "subtasks", "start_step": 1140, "end_step": 1196, "id": "reasoning-language-00028", "text": "Left hand: return_home: Left hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position. | Right hand: return_home: Right hand remains empty, moves upward and backward with fingers gradually extending, and stops at the home position."}], "episode_index": 193}
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+{"source_uid": "ff687514ef93290c", "num_frames": 1257, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: Stack the Two Blocks | Instruction: Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block. | Scene: Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other. | Success: One block is placed stably on top of the other block.", "tags": {"task_name": "Stack the Two Blocks", "task_instruction": "Move the blocks closer in front of the robot. Pick up one block, move it above the other block, and place it on top of the other block.", "scene_description": "Two blocks are placed at random positions on a table. The robot first moves them closer to its working area, then stacks one block on top of the other.", "success_criteria": "One block is placed stably on top of the other block.", "score": "S", "SOP": "V2.0"}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 558, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 816, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 1188, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 192, "id": "subtask-001", "text": "Move the blocks closer in front of the robot. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 193, "end_step": 558, "id": "subtask-002", "text": "Pick up one block. | Skill: pick", "task_skill": "pick", "atomic_action": []}, {"label": "subtasks", "start_step": 559, "end_step": 816, "id": "subtask-003", "text": "Move the block above the other block. | Skill: move", "task_skill": "move", "atomic_action": []}, {"label": "subtasks", "start_step": 817, "end_step": 1188, "id": "subtask-004", "text": "Place the block on top of the other block. | Skill: place", "task_skill": "place", "atomic_action": []}], "anno_path": "/mnt/netdata/Team/Academic/Data/North/SharpaOpenData/stack_blocks/season_POC22027_2026_05_05_11_32_30_train/POC22027_2026_05_05_20_19_28_train/anno.json", "v40_original_language_cache": "/vepfs-cnsh6242fe0f918b/Team/Academic/Data/North/SharpaOpenData_lerobot/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v2.1/meta/annotation_cache.jsonl", "v40_original_episode_index": 192, "v40_language_source": "previous_published_lerobot", "episode_index": 195}
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+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
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+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
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+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
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+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
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+            "shape": [
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+            "names": null
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+        "observation.images.head_left": {
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+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+                "left_middle_fy",
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+                "left_middle_tx",
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+                "left_middle_tz",
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+                "left_ring_ty",
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+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
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+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
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+        "observation.images.tactile_deform": {
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+                1200,
+                3
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+            "names": [
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+        "episode_index": {
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+        "task_index": {
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+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
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+    },
+    "wrist_left": {
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+    },
+    "wrist_right": {
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+    },
+    "head_right": {
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+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
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+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
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+    }
+  },
+  "state": {
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+      "end": 65,
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+      "absolute": true,
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+    },
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+      "absolute": true,
+      "dtype": "float32",
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+  },
+  "action": {
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+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f7fd70894050b339e73f556018489378c0177ca
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_11_32_30_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
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