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idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards toward the small green building block on the black desktop."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the small green building block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to adjust and form stable grasp on the green block placed on the black surface."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the grasped green block away from the black supporting surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small green block from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small green block towards the large green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small green block onto the large green block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place_release: Right hand places the small green block on the black table surface and releases its grasp on the green block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: idle: Right hand remains empty above the green block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the small blue block placed on the black surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the small blue block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small blue block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small blue block towards the green L-shaped block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the small blue block with the green L-shaped block."}, {"label": "subtasks", "start_step": 495, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small blue block onto the top of the green block on the table, and presses slightly to fit them together."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the small blue block with fingers opening, then retreats away from the assembled blocks."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the orange block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small orange block from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small orange block to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the small orange block on the top of the green block without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block on the top of the green block on the black surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press_release: Right hand presses the small orange block to attach it to the green block and releases the block immediately."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves empty from the lower position back to its initial home position. | Right hand: return_home: Right hand moves empty from the position near the colorful building blocks back to its initial home position."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at its initial home position. | Right hand: idle: Right hand remains empty and stationary at its initial home position."}], "episode_index": 32}
+{"source_uid": "387fc203c79edbf2", "num_frames": 949, "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": 37, "id": "reasoning-language-00001", "text": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "valid", "start_step": 0, "end_step": 909, "id": "nZfUynSuUBKNrDYpMKu0o"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}, {"label": "home", "start_step": 910, "end_step": 948, "id": "HjsYW_xHz1aLvrUu1szxN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}], "episode_index": 33}
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef5904e6e2e030264ac3dffa38e7243fa9fcb3d5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/annotations.jsonl
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"reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the orange building block on the black table."}, {"label": "subtasks", "start_step": 608, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}, {"label": "subtasks", "start_step": 690, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the orange building block from the table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand transports the orange building block above the assembled blue block."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the orange building block onto the top of the assembled blue block."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses the orange building block down to mate it with the assembled blue block."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the orange building block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 855, "end_step": 911, "id": "reasoning-language-00021", "text": "Left hand: return_home: Left hand moves upward and leftward back to the upper left initial position and stops. | Right hand: return_home: Right hand moves upward and rightward from the position near the colorful building blocks back to the upper right initial position and stops."}], "episode_index": 11}
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"text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: close: Right hand closes the small orange object on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block up from the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the orange block above the green and blue stacked blocks."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and presses the orange block onto the green block to complete assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block placed on the stacked building blocks."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the orange block down onto the stacked building blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back from the area near the colorful stacked blocks to its left initial position. | Right hand: return_home: Right hand moves back from the area near the colorful stacked blocks to its right initial position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1024, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at its left initial position. | Right hand: idle: Right hand remains empty and stationary at its right initial position."}], "episode_index": 20}
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"reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small green block from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small green block towards the large green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small green block onto the large green block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: 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420, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small blue block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small blue block towards the green L-shaped block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the small blue block with the green L-shaped block."}, {"label": "subtasks", "start_step": 495, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small blue block onto the top of the green block on the table, and presses slightly to fit them together."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the small blue block with fingers opening, then retreats away from the assembled blocks."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the orange block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small orange block from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small orange block to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the small orange block on the top of the green block without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block on the top of the green block on the black surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press_release: Right hand presses the small orange block to attach it to the green block and releases the block immediately."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves empty from the lower position back to its initial home position. | Right hand: return_home: Right hand moves empty from the position near the colorful building blocks back to its initial home position."}, {"label": "home", "start_step": 949, "end_step": 989, "id": "UbH8XrHmjK3NPRm8DWmF4"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at its initial home position. | Right hand: idle: Right hand remains empty and stationary at its initial home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards_rotate_slightly: Left hand moves upwards and rotates slightly while remaining empty. | Right hand: other:move_upwards_rotate_slightly: Right hand moves upwards and rotates slightly while 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 without moving. | Right hand: reach: Right hand moves downwards toward the small green building block on the black desktop."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the small green building block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to adjust and form stable grasp on the green block placed on the black surface."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the grasped green block away from the black supporting surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small green block from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small green block towards the large green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small green block onto the large green block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place_release: Right hand places the small green block on the black table surface and releases its grasp on the green block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: idle: Right hand remains empty above the green block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the small blue block placed on the black surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the small blue block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small blue block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small blue block towards the green L-shaped block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the small blue block with the green L-shaped block."}, {"label": "subtasks", "start_step": 495, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small blue block onto the top of the green block on the table, and presses slightly to fit them together."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the small blue block with fingers opening, then retreats away from the assembled blocks."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the orange block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small orange block from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small orange block to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the small orange block on the top of the green block without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block on the top of the green block on the black surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press_release: Right hand presses the small orange block to attach it to the green block and releases the block immediately."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves empty from the lower position back to its initial home position. | Right hand: return_home: Right hand moves empty from the position near the colorful building blocks back to its initial home position."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at its initial home position. | Right hand: idle: Right hand remains empty and stationary at its initial home position."}], "episode_index": 32}
+{"source_uid": "387fc203c79edbf2", "num_frames": 949, "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": 37, "id": "reasoning-language-00001", "text": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "valid", "start_step": 0, "end_step": 909, "id": "nZfUynSuUBKNrDYpMKu0o"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}, {"label": "home", "start_step": 910, "end_step": 948, "id": "HjsYW_xHz1aLvrUu1szxN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}], "episode_index": 33}
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..570a9ffcd36a1e4cff3507ef048c164ba7e8fe1a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,40 @@
+{"episode_index": 0, "tasks": ["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."], "length": 1108}
+{"episode_index": 1, "tasks": ["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."], "length": 1145}
+{"episode_index": 2, "tasks": ["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."], "length": 1021}
+{"episode_index": 3, "tasks": ["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."], "length": 1098}
+{"episode_index": 4, "tasks": ["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."], "length": 1003}
+{"episode_index": 5, "tasks": ["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."], "length": 1032}
+{"episode_index": 6, "tasks": ["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."], "length": 1120}
+{"episode_index": 7, "tasks": ["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."], "length": 985}
+{"episode_index": 8, "tasks": ["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."], "length": 1103}
+{"episode_index": 9, "tasks": ["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."], "length": 1174}
+{"episode_index": 10, "tasks": ["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."], "length": 1201}
+{"episode_index": 11, "tasks": ["Task: stack_blocks"], "length": 912}
+{"episode_index": 12, "tasks": ["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."], "length": 1109}
+{"episode_index": 13, "tasks": ["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."], "length": 1315}
+{"episode_index": 14, "tasks": ["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."], "length": 1300}
+{"episode_index": 15, "tasks": ["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."], "length": 1336}
+{"episode_index": 16, "tasks": ["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."], "length": 1142}
+{"episode_index": 17, "tasks": ["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."], "length": 1091}
+{"episode_index": 18, "tasks": ["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."], "length": 1154}
+{"episode_index": 19, "tasks": ["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."], "length": 1192}
+{"episode_index": 20, "tasks": ["Task: stack_blocks"], "length": 1025}
+{"episode_index": 21, "tasks": ["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."], "length": 1271}
+{"episode_index": 22, "tasks": ["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."], "length": 1171}
+{"episode_index": 23, "tasks": ["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."], "length": 1419}
+{"episode_index": 24, "tasks": ["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."], "length": 1297}
+{"episode_index": 25, "tasks": ["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."], "length": 1299}
+{"episode_index": 26, "tasks": ["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."], "length": 1335}
+{"episode_index": 27, "tasks": ["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."], "length": 1784}
+{"episode_index": 28, "tasks": ["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."], "length": 1137}
+{"episode_index": 29, "tasks": ["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."], "length": 1151}
+{"episode_index": 30, "tasks": ["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."], "length": 1103}
+{"episode_index": 31, "tasks": ["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."], "length": 1164}
+{"episode_index": 32, "tasks": ["Task: stack_blocks"], "length": 990}
+{"episode_index": 33, "tasks": ["Task: stack_blocks"], "length": 949}
+{"episode_index": 34, "tasks": ["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."], "length": 1593}
+{"episode_index": 35, "tasks": ["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."], "length": 1142}
+{"episode_index": 36, "tasks": ["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."], "length": 1397}
+{"episode_index": 37, "tasks": ["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."], "length": 1397}
+{"episode_index": 38, "tasks": ["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."], "length": 1197}
+{"episode_index": 39, "tasks": ["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."], "length": 1374}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bbfc2fd3d82f7e80e376b6ed0cda84aaf9339ab2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,40 @@
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b497032aff35d62ce21d5529f13df6f7a37eb3c0
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..79012a951fef2b1f2833e5999fdc6da76c732523
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,103 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "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."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves downward toward the small green building block on the black table."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small green building block on the black table."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers and makes slight adjustments to grasp the small green building block on the black ground."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the small green building block from the table and transports it above the large green building block."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the small green building block onto the large green building block."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: mate: Right hand mates the small green building block with the large green building block to assemble them."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the green building block on the table, with fingers gradually opening."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the blue building block on the table without contacting it."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to establish a stable grasp on the blue building block on the table."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the blue building block from the black table surface."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand transports the blue building block to the position above the green building blocks."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place_mate: Right hand places the blue building block onto the green blocks and presses to fit them together."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the blue building block with fingers opening."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the orange building block on the black table."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the orange building block on the black table."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: lift: Right hand lifts the orange building block from the table surface."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: transport: Right hand transports the orange building block above the assembled blue block."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: place: Right hand places the orange building block onto the top of the assembled blue block."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: press: Right hand presses the orange building block down to mate it with the assembled blue block."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the frame without moving. | Right hand: release: Right hand releases the orange building block, fingers open and separate from the block."}
+{"subtask_index": 25, "subtask": "Left hand: return_home: Left hand moves upward and leftward back to the upper left initial position and stops. | Right hand: return_home: Right hand moves upward and rightward from the position near the colorful building blocks back to the upper right initial position and stops."}
+{"subtask_index": 26, "subtask": "Left hand: other:adjust_posture: Left hand adjusts its posture with fingers curling slightly, without contacting any objects. | Right hand: other:adjust_posture: Right hand adjusts its posture with fingers curling slightly, without contacting any objects."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the small green block located in the middle of the table."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the small green block and closes fingers to form a grasp."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the small green block on the table along the downward direction."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the small green block placed on the black table."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the small green block upwards to make it completely leave the black table surface."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block horizontally above the larger green block on the table."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block down onto the top of the larger green block."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grasp on the green block on the table with slight finger movements."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the blue block placed on top of the green block."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block off the green block and transports it towards the right side of the table."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the blue block on the black table surface at the right side."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: close: Right hand closes the small blue object on the black table surface."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block from the black table surface."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block towards the green block on the table."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the blue block with the green block on the table."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand holds the blue building block and mates it with the green building block on the table."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the assembled building blocks and retreats from the operating position."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the black table."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the orange block."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: close: Right hand closes the small orange object on the black table surface."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block up from the black table surface."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the orange block above the green and blue stacked blocks."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and presses the orange block onto the green block to complete assembly."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block placed on the stacked building blocks."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the orange block down onto the stacked building blocks."}
+{"subtask_index": 52, "subtask": "Left hand: return_home: Left hand moves back from the area near the colorful stacked blocks to its left initial position. | Right hand: return_home: Right hand moves back from the area near the colorful stacked blocks to its right initial position."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty and stationary at its left initial position. | Right hand: idle: Right hand remains empty and stationary at its right initial position."}
+{"subtask_index": 54, "subtask": "Left hand: other:move_upwards_rotate_slightly: Left hand moves upwards and rotates slightly while remaining empty. | Right hand: other:move_upwards_rotate_slightly: Right hand moves upwards and rotates slightly while remaining empty."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards toward the small green building block on the black desktop."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the small green building block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to adjust and form stable grasp on the green block placed on the black surface."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the grasped green block away from the black supporting surface."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small green block from the black table surface."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small green block towards the large green block on the table."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small green block onto the large green block on the table."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place_release: Right hand places the small green block on the black table surface and releases its grasp on the green block."}
+{"subtask_index": 63, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: idle: Right hand remains empty above the green block without moving."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the small blue block placed on the black surface."}
+{"subtask_index": 65, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the small blue block and adjusts fingers to form a stable grasp."}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small blue block from the black table surface."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small blue block towards the green L-shaped block."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the small blue block with the green L-shaped block."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small blue block onto the top of the green block on the table, and presses slightly to fit them together."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the small blue block with fingers opening, then retreats away from the assembled blocks."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the orange block on the black tabletop."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the orange block on the black tabletop, with fingers adjusting to form a stable grip."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small orange block from the black table surface."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small orange block to the position above the stacked green and blue blocks."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block onto the top surface of the green block."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the small orange block on the top of the green block without moving."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block on the top of the green block on the black surface."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press_release: Right hand presses the small orange block to attach it to the green block and releases the block immediately."}
+{"subtask_index": 79, "subtask": "Left hand: return_home: Left hand moves empty from the lower position back to its initial home position. | Right hand: return_home: Right hand moves empty from the position near the colorful building blocks back to its initial home position."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty and stationary at its initial home position. | Right hand: idle: Right hand remains empty and stationary at its initial home position."}
+{"subtask_index": 81, "subtask": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}
+{"subtask_index": 102, "subtask": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
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table without moving. | Right hand: press: Right hand presses the small green block on the table along the downward direction."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the small green block placed on the black table."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the small green block upwards to make it completely leave the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small green block horizontally above the larger green block on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the small green block down onto the top of the larger green block."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts the grasp on the green block on the table with slight finger movements."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the blue block placed on top of the green block."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the blue block off the green block and transports it towards the right side of the table."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the blue block on the black table surface at the right side."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: close: Right hand closes the small blue object on the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the blue block from the black table surface."}, {"label": "subtasks", "start_step": 502, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the blue block towards the green block on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the blue block with the green block on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand holds the blue building block and mates it with the green building block on the table."}, {"label": "subtasks", "start_step": 668, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the assembled building blocks and retreats from the operating position."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the orange block on the black table."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the orange block."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: close: Right hand closes the small orange object on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the orange block up from the black table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the orange block above the green and blue stacked blocks."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and presses the orange block onto the green block to complete assembly."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the orange block placed on the stacked building blocks."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the orange block down onto the stacked building blocks."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: return_home: Left hand moves back from the area near the colorful stacked blocks to its left initial position. | Right hand: return_home: Right hand moves back from the area near the colorful stacked blocks to its right initial position."}, {"label": "subtasks", "start_step": 1005, "end_step": 1024, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at its left initial position. | Right hand: idle: Right hand remains empty and stationary at its right initial position."}], "episode_index": 20}
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"text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the small orange block on the top of the green block without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block on the top of the green block on the black surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press_release: Right hand presses the small orange block to attach it to the green block and releases the block immediately."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves empty from the lower position back to 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idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves downwards toward the small green building block on the black desktop."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the small green building block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to adjust and form stable grasp on the green block placed on the black surface."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the grasped green block away from the black supporting surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small green block from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small green block towards the large green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small green block onto the large green block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place_release: Right hand places the small green block on the black table surface and releases its grasp on the green block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: idle: Right hand remains empty above the green block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the small blue block placed on the black surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right 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"reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small blue block onto the top of the green block on the table, and presses slightly to fit them together."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the small blue block with fingers opening, then retreats away from the assembled blocks."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains 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"end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves empty from the lower position back to its initial home position. | Right hand: return_home: Right hand moves empty from the position near the colorful building blocks back to its initial home position."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at its initial home position. | Right hand: idle: Right hand remains empty and stationary at its initial home position."}], "episode_index": 32}
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"end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}, {"label": "home", "start_step": 910, "end_step": 948, "id": "HjsYW_xHz1aLvrUu1szxN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}], "episode_index": 33}
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v3.0/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ef5904e6e2e030264ac3dffa38e7243fa9fcb3d5
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,40 @@
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Right hand places the small blue block onto the top of the green block on the table, and presses slightly to fit them together."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the small blue block with fingers opening, then retreats away from the assembled blocks."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the orange block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small orange block from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small orange block to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the small orange block on the top of the green block without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block on the top of the green block on the black surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press_release: Right hand presses the small orange block to attach it to the green block and releases the block immediately."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves empty from the lower position back to its initial home position. | Right hand: return_home: Right hand moves empty from the position near the colorful building blocks back to its initial home position."}, {"label": "home", "start_step": 949, "end_step": 989, "id": "UbH8XrHmjK3NPRm8DWmF4"}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at its initial home position. | Right hand: idle: Right hand remains empty and stationary at its initial home position."}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: other:move_upwards_rotate_slightly: Left hand moves upwards and rotates slightly while remaining empty. | Right hand: other:move_upwards_rotate_slightly: Right hand moves upwards and rotates slightly while 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 without moving. | Right hand: reach: Right hand moves downwards toward the small green building block on the black desktop."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the small green building block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand closes its fingers to adjust and form stable grasp on the green block placed on the black surface."}, {"label": "subtasks", "start_step": 158, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the grasped green block away from the black supporting surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small green block from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small green block towards the large green block on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small green block onto the large green block on the table."}, {"label": "subtasks", "start_step": 225, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place_release: Right hand places the small green block on the black table surface and releases its grasp on the green block."}, {"label": "subtasks", "start_step": 300, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: idle: Right hand remains empty above the green block without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the small blue block placed on the black surface."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand contacts the small blue block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small blue block from the black table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small blue block towards the green L-shaped block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: mate: Right hand mates the small blue block with the green L-shaped block."}, {"label": "subtasks", "start_step": 495, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small blue block onto the top of the green block on the table, and presses slightly to fit them together."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: release_retreat: Right hand releases the small blue block with fingers opening, then retreats away from the assembled blocks."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: reach: Right hand moves toward the orange block on the black tabletop."}, {"label": "subtasks", "start_step": 668, "end_step": 734, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: grasp: Right hand grasps the orange block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: lift: Right hand lifts the small orange block from the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: transport: Right hand transports the small orange block to the position above the stacked green and blue blocks."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block onto the top surface of the green block."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: hold: Right hand holds the small orange block on the top of the green block without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: place: Right hand places the small orange block on the top of the green block on the black surface."}, {"label": "subtasks", "start_step": 862, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area without moving. | Right hand: press_release: Right hand presses the small orange block to attach it to the green block and releases the block immediately."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: return_home: Left hand moves empty from the lower position back to its initial home position. | Right hand: return_home: Right hand moves empty from the position near the colorful building blocks back to its initial home position."}, {"label": "subtasks", "start_step": 975, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at its initial home position. | Right hand: idle: Right hand remains empty and stationary at its initial home position."}], "episode_index": 32}
+{"source_uid": "387fc203c79edbf2", "num_frames": 949, "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": 37, "id": "reasoning-language-00001", "text": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "valid", "start_step": 0, "end_step": 909, "id": "nZfUynSuUBKNrDYpMKu0o"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}, {"label": "home", "start_step": 910, "end_step": 948, "id": "HjsYW_xHz1aLvrUu1szxN"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:curl_fingers: Left hand gradually curls its fingers inward starting from a fully open extended position, staying above the table without contacting any object. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward from the upper right area toward the toy blocks on the black table surface, with fingers slightly adjusting posture and remaining out of contact with any objects."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves downward toward the small green 2x2 building block on the black table surface, with fingers slightly open and no contact with the target block yet."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the small green 2x2 building block on the black table surface to form a stable grip, with the block still resting on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift: Right hand moves upward while holding the small green 2x2 building block, lifting the block completely off the black table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand moves the grasped small green 2x2 building block horizontally toward the larger green 2x4 building block on the table, keeping the block held in the air."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: place: Right hand lowers the small green 2x2 building block downward onto the top surface of the larger green 2x4 building block, until the small block is stably supported by the larger block."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green building block on the dark table surface, making contact with the block during grasp attempts."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: idle: Right hand remains empty and stationary on the table surface next to the green building block with no visible movement."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the adjacent small orange building block, approaching the target without establishing contact."}, {"label": "subtasks", "start_step": 330, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves empty toward the small blue block on the black work surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 442, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the small blue block on the black work surface, adjusting finger positions to form a stable grip on the block as it rests on the surface."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: transport: Right hand holds the blue block and moves it left across the black work surface, bringing it into position adjacent to the green block."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand aligns the grasped blue block with the adjacent green block, pressing the two blocks together to fit their connecting surfaces."}, {"label": "subtasks", "start_step": 600, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: hold: Right hand holds the blue section of the stacked green and blue building block on the black table surface without observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: release_reach: Right hand releases the stacked green and blue building block and moves toward the small orange building block on the table with an empty hand."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: reach: Right hand moves toward the small orange Lego block resting on the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the orange Lego block on the table, making minor finger adjustments to form a stable grip while the block remains on the table surface."}, {"label": "subtasks", "start_step": 742, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped orange Lego block completely off the table surface and moves it horizontally toward the stacked green and blue Lego blocks."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers. | Right hand: mate: Right hand positions the grasped orange Lego block to align with the connection points on top of the stacked green Lego block, lowering the block to attach it securely to the green block."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty with curled fingers above the table without any visible movement of the hand or fingers."}, {"label": "subtasks", "start_step": 900, "end_step": 948, "id": "reasoning-language-00023", "text": "Left hand: return_home: Left hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position in front of the body. | Right hand: return_home: Right hand gradually opens all its fingers to a fully extended state while moving backward to its natural rest position on the right side of the workspace."}], "episode_index": 33}
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+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v3.0/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_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_21_06_53_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
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+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v3.0/meta/stats.json b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d54a56e365220037c52e30dddb8f9c67611384b
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_05_21_06_53_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/annotations.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..566eeedf447e872744afa7ffab9383e47c880be7
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/annotations.jsonl
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/episodes.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..87ef67d6f5ecee1821a8316a733ed6fce4752f2e
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,26 @@
+{"episode_index": 0, "tasks": ["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."], "length": 2986}
+{"episode_index": 1, "tasks": ["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."], "length": 2734}
+{"episode_index": 2, "tasks": ["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."], "length": 2049}
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+{"episode_index": 24, "tasks": ["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."], "length": 1441}
+{"episode_index": 25, "tasks": ["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."], "length": 2165}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/episodes_stats.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6af785785f6e8f3a28bdbd11b8c5a95e6771185
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/episodes_stats.jsonl
@@ -0,0 +1,26 @@
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diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/info.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..272b4fd5d0eebcefdc040364695bcfc6ae3a54f9
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
+{
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+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/modality.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/subtasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e1941d6beb13af445c1bcf9572c029ddcb8d089a
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,5 @@
+{"subtask_index": 0, "subtask": "Move the blocks closer in front of the robot. | Skill: move"}
+{"subtask_index": 1, "subtask": "Pick up one block. | Skill: pick"}
+{"subtask_index": 2, "subtask": "Move the block above the other block. | Skill: move"}
+{"subtask_index": 3, "subtask": "Place the block on top of the other block. | Skill: place"}
+{"subtask_index": 4, "subtask": "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."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/tasks.jsonl b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..687a118df0a7ed9070b80da513e14d2d292afee2
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "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."}
diff --git a/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/v40_validation.json b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/v40_validation.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcbb6b7fd13357d6054cb67f78ba44026d407d8
--- /dev/null
+++ b/reposition_and_stack_blocks/season_POC22027_2026_05_06_14_12_39_train/lerobot_v2.1/meta/v40_validation.json
@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 26,
+  "frames": 52386,
+  "video_frames": {
+    "observation.images.head_left": 52386,
+    "observation.images.wrist_left": 52386,
+    "observation.images.wrist_right": 52386,
+    "observation.images.head_right": 52386,
+    "observation.images.tactile_deform": 52386,
+    "observation.images.tactile_raw": 52386
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 26
+}
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